diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-309/trial_T20190908_062755_880343/game.tw-pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-309/trial_T20190908_062755_880343/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..a1226aed2d8f89f4c4c1ef8d90131301e6a8e450 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-309/trial_T20190908_062755_880343/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_062755_880343)\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_02_dot_90 - 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_03_dot_27_bar__plus_00_dot_19_bar__plus_03_dot_20 - object\n CD_bar__plus_01_dot_62_bar__plus_00_dot_09_bar__minus_03_dot_15 - object\n CD_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_73 - object\n CD_bar__minus_03_dot_08_bar__plus_00_dot_19_bar__plus_03_dot_20 - object\n CellPhone_bar__plus_00_dot_96_bar__plus_00_dot_84_bar__plus_01_dot_22 - object\n CellPhone_bar__minus_00_dot_94_bar__plus_00_dot_19_bar__plus_03_dot_67 - 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_29_bar__plus_01_dot_12_bar__minus_03_dot_24 - object\n CreditCard_bar__minus_00_dot_89_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__minus_00_dot_28_bar__plus_00_dot_59_bar__minus_02_dot_93 - object\n KeyChain_bar__minus_00_dot_60_bar__plus_01_dot_12_bar__minus_02_dot_73 - object\n KeyChain_bar__minus_00_dot_98_bar__plus_00_dot_09_bar__minus_02_dot_93 - object\n Laptop_bar__minus_00_dot_60_bar__plus_01_dot_11_bar__minus_03_dot_07 - 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_16_bar__plus_01_dot_11_bar__minus_02_dot_90 - object\n Pencil_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_03_dot_07 - object\n Pen_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_02_dot_82 - object\n Pen_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_03_dot_07 - object\n Pen_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_07 - object\n Pillow_bar__plus_00_dot_39_bar__plus_00_dot_94_bar__plus_00_dot_02 - object\n Pillow_bar__plus_00_dot_96_bar__plus_00_dot_94_bar__plus_00_dot_26 - object\n Pillow_bar__plus_01_dot_53_bar__plus_00_dot_94_bar__plus_00_dot_74 - object\n RemoteControl_bar__minus_00_dot_54_bar__plus_00_dot_59_bar__minus_02_dot_88 - 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_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_12_bar_11_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_2_bar__minus_9_bar_2_bar_45 - 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_2_bar_8_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 Pencil_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_03_dot_07 PencilType)\n (objectType Blinds_bar__minus_00_dot_48_bar__plus_02_dot_79_bar__minus_03_dot_25 BlindsType)\n (objectType Pen_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_02_dot_82 PenType)\n (objectType CD_bar__minus_03_dot_08_bar__plus_00_dot_19_bar__plus_03_dot_20 CDType)\n (objectType LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_28_bar__plus_04_dot_00 LightSwitchType)\n (objectType AlarmClock_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_02_dot_90 AlarmClockType)\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 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 Pillow_bar__plus_00_dot_96_bar__plus_00_dot_94_bar__plus_00_dot_26 PillowType)\n (objectType Book_bar__minus_03_dot_27_bar__plus_00_dot_19_bar__plus_03_dot_20 BookType)\n (objectType Television_bar__minus_03_dot_88_bar__plus_01_dot_77_bar__plus_02_dot_12 TelevisionType)\n (objectType CellPhone_bar__minus_00_dot_94_bar__plus_00_dot_19_bar__plus_03_dot_67 CellPhoneType)\n (objectType CD_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_73 CDType)\n (objectType Laptop_bar__minus_00_dot_60_bar__plus_01_dot_11_bar__minus_03_dot_07 LaptopType)\n (objectType CD_bar__plus_01_dot_62_bar__plus_00_dot_09_bar__minus_03_dot_15 CDType)\n (objectType KeyChain_bar__minus_00_dot_28_bar__plus_00_dot_59_bar__minus_02_dot_93 KeyChainType)\n (objectType RemoteControl_bar__minus_00_dot_54_bar__plus_00_dot_59_bar__minus_02_dot_88 RemoteControlType)\n (objectType Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__minus_00_dot_65 BlindsType)\n (objectType Pen_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_07 PenType)\n (objectType CreditCard_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_03_dot_24 CreditCardType)\n (objectType KeyChain_bar__minus_00_dot_98_bar__plus_00_dot_09_bar__minus_02_dot_93 KeyChainType)\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 CreditCard_bar__minus_00_dot_29_bar__plus_01_dot_12_bar__minus_03_dot_24 CreditCardType)\n (objectType Mug_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__minus_02_dot_90 MugType)\n (objectType Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__plus_00_dot_58 WindowType)\n (objectType Pen_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_03_dot_07 PenType)\n (objectType CreditCard_bar__minus_00_dot_89_bar__plus_00_dot_58_bar__minus_02_dot_88 CreditCardType)\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 Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__minus_00_dot_68 WindowType)\n (objectType Book_bar__plus_00_dot_39_bar__plus_00_dot_83_bar__plus_01_dot_46 BookType)\n (objectType Blinds_bar__minus_01_dot_96_bar__plus_02_dot_79_bar__minus_03_dot_25 BlindsType)\n (objectType CellPhone_bar__plus_00_dot_96_bar__plus_00_dot_84_bar__plus_01_dot_22 CellPhoneType)\n (objectType Pillow_bar__plus_01_dot_53_bar__plus_00_dot_94_bar__plus_00_dot_74 PillowType)\n (objectType Pillow_bar__plus_00_dot_39_bar__plus_00_dot_94_bar__plus_00_dot_02 PillowType)\n (objectType KeyChain_bar__minus_00_dot_60_bar__plus_01_dot_12_bar__minus_02_dot_73 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 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 Pencil_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_03_dot_07)\n (pickupable Pen_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_02_dot_82)\n (pickupable CD_bar__minus_03_dot_08_bar__plus_00_dot_19_bar__plus_03_dot_20)\n (pickupable AlarmClock_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_02_dot_90)\n (pickupable TeddyBear_bar__plus_01_dot_87_bar__plus_00_dot_04_bar__minus_00_dot_56)\n (pickupable Pillow_bar__plus_00_dot_96_bar__plus_00_dot_94_bar__plus_00_dot_26)\n (pickupable Book_bar__minus_03_dot_27_bar__plus_00_dot_19_bar__plus_03_dot_20)\n (pickupable CellPhone_bar__minus_00_dot_94_bar__plus_00_dot_19_bar__plus_03_dot_67)\n (pickupable CD_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_73)\n (pickupable Laptop_bar__minus_00_dot_60_bar__plus_01_dot_11_bar__minus_03_dot_07)\n (pickupable CD_bar__plus_01_dot_62_bar__plus_00_dot_09_bar__minus_03_dot_15)\n (pickupable KeyChain_bar__minus_00_dot_28_bar__plus_00_dot_59_bar__minus_02_dot_93)\n (pickupable RemoteControl_bar__minus_00_dot_54_bar__plus_00_dot_59_bar__minus_02_dot_88)\n (pickupable Pen_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_07)\n (pickupable CreditCard_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_03_dot_24)\n (pickupable KeyChain_bar__minus_00_dot_98_bar__plus_00_dot_09_bar__minus_02_dot_93)\n (pickupable CreditCard_bar__minus_00_dot_29_bar__plus_01_dot_12_bar__minus_03_dot_24)\n (pickupable Mug_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__minus_02_dot_90)\n (pickupable Pen_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_03_dot_07)\n (pickupable CreditCard_bar__minus_00_dot_89_bar__plus_00_dot_58_bar__minus_02_dot_88)\n (pickupable Book_bar__plus_00_dot_39_bar__plus_00_dot_83_bar__plus_01_dot_46)\n (pickupable CellPhone_bar__plus_00_dot_96_bar__plus_00_dot_84_bar__plus_01_dot_22)\n (pickupable Pillow_bar__plus_01_dot_53_bar__plus_00_dot_94_bar__plus_00_dot_74)\n (pickupable Pillow_bar__plus_00_dot_39_bar__plus_00_dot_94_bar__plus_00_dot_02)\n (pickupable KeyChain_bar__minus_00_dot_60_bar__plus_01_dot_12_bar__minus_02_dot_73)\n (isReceptacleObject Mug_bar__minus_02_dot_16_bar__plus_01_dot_11_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_2_bar_8_bar_0_bar_30)\n \n (cleanable Mug_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__minus_02_dot_90)\n \n (heatable Mug_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__minus_02_dot_90)\n (coolable Mug_bar__minus_02_dot_16_bar__plus_01_dot_11_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 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 Pillow_bar__plus_01_dot_53_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 CellPhone_bar__plus_00_dot_96_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_39_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 Pillow_bar__plus_00_dot_96_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)\n (inReceptacle Book_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)\n (inReceptacle KeyChain_bar__minus_00_dot_28_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__minus_00_dot_54_bar__plus_00_dot_59_bar__minus_02_dot_88 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__minus_00_dot_89_bar__plus_00_dot_58_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_62_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 KeyChain_bar__minus_00_dot_98_bar__plus_00_dot_09_bar__minus_02_dot_93 Drawer_bar__minus_01_dot_16_bar__plus_00_dot_29_bar__minus_02_dot_85)\n (inReceptacle CellPhone_bar__minus_00_dot_94_bar__plus_00_dot_19_bar__plus_03_dot_67 ArmChair_bar__minus_00_dot_94_bar__plus_00_dot_00_bar__plus_03_dot_61)\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_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 Laptop_bar__minus_00_dot_60_bar__plus_01_dot_11_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_01_dot_23_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 AlarmClock_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 CreditCard_bar__minus_00_dot_29_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 Mug_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__minus_02_dot_90 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle Pen_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 Pen_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 \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__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 CD_bar__minus_03_dot_08_bar__plus_00_dot_19_bar__plus_03_dot_20 loc_bar__minus_12_bar_11_bar_0_bar_60)\n (objectAtLocation KeyChain_bar__minus_00_dot_98_bar__plus_00_dot_09_bar__minus_02_dot_93 loc_bar__minus_5_bar__minus_9_bar_2_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 Pillow_bar__plus_00_dot_96_bar__plus_00_dot_94_bar__plus_00_dot_26 loc_bar__minus_2_bar_3_bar_1_bar_45)\n (objectAtLocation CellPhone_bar__plus_00_dot_96_bar__plus_00_dot_84_bar__plus_01_dot_22 loc_bar__minus_2_bar_3_bar_1_bar_45)\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 KeyChain_bar__minus_00_dot_28_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_00_dot_29_bar__plus_01_dot_12_bar__minus_03_dot_24 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation Pen_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 CD_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 Book_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 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_90 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation CellPhone_bar__minus_00_dot_94_bar__plus_00_dot_19_bar__plus_03_dot_67 loc_bar__minus_3_bar_10_bar_0_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_53_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_39_bar__plus_00_dot_94_bar__plus_00_dot_02 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_58_bar__minus_02_dot_88 loc_bar__minus_7_bar__minus_9_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__minus_00_dot_60_bar__plus_01_dot_12_bar__minus_02_dot_73 loc_bar__minus_2_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Pencil_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 Laptop_bar__minus_00_dot_60_bar__plus_01_dot_11_bar__minus_03_dot_07 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\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_54_bar__plus_00_dot_59_bar__minus_02_dot_88 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_01_dot_62_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_23_bar__plus_01_dot_12_bar__minus_02_dot_82 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_90 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 AlarmClockType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to desk 1", "take alarmclock 1 from desk 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-AlarmClock-None-DeskLamp-309/trial_T20190908_062755_880343/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-309/trial_T20190908_062755_880343/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..2232e56919e37d8b8f05247b1c2d0bffa5972829 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-309/trial_T20190908_062755_880343/initial_state.pddl @@ -0,0 +1,588 @@ + +(define (problem plan_trial_T20190908_062755_880343) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_02_dot_90 - 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_03_dot_27_bar__plus_00_dot_19_bar__plus_03_dot_20 - object + CD_bar__plus_01_dot_62_bar__plus_00_dot_09_bar__minus_03_dot_15 - object + CD_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_73 - object + CD_bar__minus_03_dot_08_bar__plus_00_dot_19_bar__plus_03_dot_20 - object + CellPhone_bar__plus_00_dot_96_bar__plus_00_dot_84_bar__plus_01_dot_22 - object + CellPhone_bar__minus_00_dot_94_bar__plus_00_dot_19_bar__plus_03_dot_67 - object + Chair_bar__minus_02_dot_07_bar__plus_00_dot_04_bar__minus_02_dot_69 - object + CreditCard_bar__minus_00_dot_29_bar__plus_01_dot_12_bar__minus_03_dot_24 - object + CreditCard_bar__minus_00_dot_89_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__minus_00_dot_28_bar__plus_00_dot_59_bar__minus_02_dot_93 - object + KeyChain_bar__minus_00_dot_60_bar__plus_01_dot_12_bar__minus_02_dot_73 - object + KeyChain_bar__minus_00_dot_98_bar__plus_00_dot_09_bar__minus_02_dot_93 - object + Laptop_bar__minus_00_dot_60_bar__plus_01_dot_11_bar__minus_03_dot_07 - 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_16_bar__plus_01_dot_11_bar__minus_02_dot_90 - object + Pencil_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_03_dot_07 - object + Pen_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_02_dot_82 - object + Pen_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_03_dot_07 - object + Pen_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_07 - object + Pillow_bar__plus_00_dot_39_bar__plus_00_dot_94_bar__plus_00_dot_02 - object + Pillow_bar__plus_00_dot_96_bar__plus_00_dot_94_bar__plus_00_dot_26 - object + Pillow_bar__plus_01_dot_53_bar__plus_00_dot_94_bar__plus_00_dot_74 - object + RemoteControl_bar__minus_00_dot_54_bar__plus_00_dot_59_bar__minus_02_dot_88 - 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_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_12_bar_11_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_2_bar__minus_9_bar_2_bar_45 - 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_2_bar_8_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 Pencil_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_03_dot_07 PencilType) + (objectType Blinds_bar__minus_00_dot_48_bar__plus_02_dot_79_bar__minus_03_dot_25 BlindsType) + (objectType Pen_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_02_dot_82 PenType) + (objectType CD_bar__minus_03_dot_08_bar__plus_00_dot_19_bar__plus_03_dot_20 CDType) + (objectType LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_28_bar__plus_04_dot_00 LightSwitchType) + (objectType AlarmClock_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_02_dot_90 AlarmClockType) + (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 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 Pillow_bar__plus_00_dot_96_bar__plus_00_dot_94_bar__plus_00_dot_26 PillowType) + (objectType Book_bar__minus_03_dot_27_bar__plus_00_dot_19_bar__plus_03_dot_20 BookType) + (objectType Television_bar__minus_03_dot_88_bar__plus_01_dot_77_bar__plus_02_dot_12 TelevisionType) + (objectType CellPhone_bar__minus_00_dot_94_bar__plus_00_dot_19_bar__plus_03_dot_67 CellPhoneType) + (objectType CD_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_73 CDType) + (objectType Laptop_bar__minus_00_dot_60_bar__plus_01_dot_11_bar__minus_03_dot_07 LaptopType) + (objectType CD_bar__plus_01_dot_62_bar__plus_00_dot_09_bar__minus_03_dot_15 CDType) + (objectType KeyChain_bar__minus_00_dot_28_bar__plus_00_dot_59_bar__minus_02_dot_93 KeyChainType) + (objectType RemoteControl_bar__minus_00_dot_54_bar__plus_00_dot_59_bar__minus_02_dot_88 RemoteControlType) + (objectType Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__minus_00_dot_65 BlindsType) + (objectType Pen_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_07 PenType) + (objectType CreditCard_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_03_dot_24 CreditCardType) + (objectType KeyChain_bar__minus_00_dot_98_bar__plus_00_dot_09_bar__minus_02_dot_93 KeyChainType) + (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 CreditCard_bar__minus_00_dot_29_bar__plus_01_dot_12_bar__minus_03_dot_24 CreditCardType) + (objectType Mug_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__minus_02_dot_90 MugType) + (objectType Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__plus_00_dot_58 WindowType) + (objectType Pen_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_03_dot_07 PenType) + (objectType CreditCard_bar__minus_00_dot_89_bar__plus_00_dot_58_bar__minus_02_dot_88 CreditCardType) + (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 Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__minus_00_dot_68 WindowType) + (objectType Book_bar__plus_00_dot_39_bar__plus_00_dot_83_bar__plus_01_dot_46 BookType) + (objectType Blinds_bar__minus_01_dot_96_bar__plus_02_dot_79_bar__minus_03_dot_25 BlindsType) + (objectType CellPhone_bar__plus_00_dot_96_bar__plus_00_dot_84_bar__plus_01_dot_22 CellPhoneType) + (objectType Pillow_bar__plus_01_dot_53_bar__plus_00_dot_94_bar__plus_00_dot_74 PillowType) + (objectType Pillow_bar__plus_00_dot_39_bar__plus_00_dot_94_bar__plus_00_dot_02 PillowType) + (objectType KeyChain_bar__minus_00_dot_60_bar__plus_01_dot_12_bar__minus_02_dot_73 KeyChainType) + (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 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KeyChain_bar__minus_00_dot_28_bar__plus_00_dot_59_bar__minus_02_dot_93) + (pickupable RemoteControl_bar__minus_00_dot_54_bar__plus_00_dot_59_bar__minus_02_dot_88) + (pickupable Pen_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_07) + (pickupable CreditCard_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_03_dot_24) + (pickupable KeyChain_bar__minus_00_dot_98_bar__plus_00_dot_09_bar__minus_02_dot_93) + (pickupable CreditCard_bar__minus_00_dot_29_bar__plus_01_dot_12_bar__minus_03_dot_24) + (pickupable Mug_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__minus_02_dot_90) + (pickupable Pen_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_03_dot_07) + (pickupable CreditCard_bar__minus_00_dot_89_bar__plus_00_dot_58_bar__minus_02_dot_88) + (pickupable Book_bar__plus_00_dot_39_bar__plus_00_dot_83_bar__plus_01_dot_46) + (pickupable CellPhone_bar__plus_00_dot_96_bar__plus_00_dot_84_bar__plus_01_dot_22) + (pickupable Pillow_bar__plus_01_dot_53_bar__plus_00_dot_94_bar__plus_00_dot_74) + (pickupable Pillow_bar__plus_00_dot_39_bar__plus_00_dot_94_bar__plus_00_dot_02) + (pickupable KeyChain_bar__minus_00_dot_60_bar__plus_01_dot_12_bar__minus_02_dot_73) + (isReceptacleObject Mug_bar__minus_02_dot_16_bar__plus_01_dot_11_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_2_bar_8_bar_0_bar_30) + + (cleanable Mug_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__minus_02_dot_90) + + (heatable Mug_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__minus_02_dot_90) + (coolable Mug_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__minus_02_dot_90) + + + (toggleable DeskLamp_bar__plus_01_dot_87_bar__plus_00_dot_55_bar__plus_02_dot_42) + + + + + (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 Pillow_bar__plus_01_dot_53_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 CellPhone_bar__plus_00_dot_96_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_39_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 Pillow_bar__plus_00_dot_96_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 Book_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 KeyChain_bar__minus_00_dot_28_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__minus_00_dot_54_bar__plus_00_dot_59_bar__minus_02_dot_88 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__minus_00_dot_89_bar__plus_00_dot_58_bar__minus_02_dot_88 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_62_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 KeyChain_bar__minus_00_dot_98_bar__plus_00_dot_09_bar__minus_02_dot_93 Drawer_bar__minus_01_dot_16_bar__plus_00_dot_29_bar__minus_02_dot_85) + (inReceptacle CellPhone_bar__minus_00_dot_94_bar__plus_00_dot_19_bar__plus_03_dot_67 ArmChair_bar__minus_00_dot_94_bar__plus_00_dot_00_bar__plus_03_dot_61) + (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_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 Laptop_bar__minus_00_dot_60_bar__plus_01_dot_11_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_01_dot_23_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 AlarmClock_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 CreditCard_bar__minus_00_dot_29_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 Mug_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__minus_02_dot_90 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99) + (inReceptacle Pen_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) + (inReceptacle Pen_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 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) + + + (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__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 CD_bar__minus_03_dot_08_bar__plus_00_dot_19_bar__plus_03_dot_20 loc_bar__minus_12_bar_11_bar_0_bar_60) + (objectAtLocation KeyChain_bar__minus_00_dot_98_bar__plus_00_dot_09_bar__minus_02_dot_93 loc_bar__minus_5_bar__minus_9_bar_2_bar_60) + (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) + (objectAtLocation Pillow_bar__plus_00_dot_96_bar__plus_00_dot_94_bar__plus_00_dot_26 loc_bar__minus_2_bar_3_bar_1_bar_45) + (objectAtLocation CellPhone_bar__plus_00_dot_96_bar__plus_00_dot_84_bar__plus_01_dot_22 loc_bar__minus_2_bar_3_bar_1_bar_45) + (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 KeyChain_bar__minus_00_dot_28_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_00_dot_29_bar__plus_01_dot_12_bar__minus_03_dot_24 loc_bar__minus_4_bar__minus_9_bar_2_bar_30) + (objectAtLocation Pen_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) + (objectAtLocation CD_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) + (objectAtLocation Book_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) + (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_54_bar__plus_01_dot_12_bar__minus_02_dot_90 loc_bar__minus_4_bar__minus_9_bar_2_bar_30) + (objectAtLocation CellPhone_bar__minus_00_dot_94_bar__plus_00_dot_19_bar__plus_03_dot_67 loc_bar__minus_3_bar_10_bar_0_bar_60) + (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_53_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_39_bar__plus_00_dot_94_bar__plus_00_dot_02 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_89_bar__plus_00_dot_58_bar__minus_02_dot_88 loc_bar__minus_7_bar__minus_9_bar_2_bar_60) + (objectAtLocation KeyChain_bar__minus_00_dot_60_bar__plus_01_dot_12_bar__minus_02_dot_73 loc_bar__minus_2_bar__minus_9_bar_2_bar_45) + (objectAtLocation Pencil_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 Laptop_bar__minus_00_dot_60_bar__plus_01_dot_11_bar__minus_03_dot_07 loc_bar__minus_4_bar__minus_9_bar_2_bar_30) + (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_54_bar__plus_00_dot_59_bar__minus_02_dot_88 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_01_dot_62_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_23_bar__plus_01_dot_12_bar__minus_02_dot_82 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_02_dot_16_bar__plus_01_dot_11_bar__minus_02_dot_90 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 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-309/trial_T20190908_062755_880343/traj_data.json 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"CD_2144f1bb", + "position": { + "x": -3.08096933, + "y": 0.1906066, + "z": 3.19774222 + }, + "rotation": { + "x": 0.0, + "y": 149.999939, + "z": 0.0 + } + }, + { + "objectName": "Pen_54d0a615", + "position": { + "x": -2.16408658, + "y": 1.12182081, + "z": -3.07308245 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_5d0b27fe", + "position": { + "x": -2.16408658, + "y": 1.11416793, + "z": -2.90291739 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "DeskLamp" + } + ], + "random_seed": 3000621385, + "scene_num": 309 + }, + "task_id": "trial_T20190908_062755_880343", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A272X64FOZFYLB_3OVHNO1VE9IGK8ZW4B7A4XKUQD0DZO", + "high_descs": [ + "Turn left, walk forward to the rug, then turn left and walk across the room to the alarm clock on the desk.", + "Pick up the alarm clock from the desk.", + "Turn around, walk across the room to the chairs, then turn right and walk to the lamp on the small table.", + "Turn on the lamp." + ], + "task_desc": "Examine an alarm clock by the light of a table lamp.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AM2KK02JXXW48_3PWWM24LHVFEX20TYWNGVUWMUED28A", + "high_descs": [ + "Turn left, move forward, turn left, go across the room to the clock on the desk. ", + "Pick up the clock on the desk. ", + "Turn around, bring the clock back to the chairs, turn right, bring the clock to the lamp on the small round table.", + "Turn on the lamp on the table. " + ], + "task_desc": "Examine a clock in the light of a lamp. ", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AD0NVUGLDYDYN_3Q5ZZ9ZEVRW6WZJGGFPET1ZYEOW859", + "high_descs": [ + "turn left, turn left, walk to the white table", + "grab the clock on the table", + "turn around, walk to the sofa chairs, turn right walk to the end table", + "turn on the lamp on the table" + ], + "task_desc": "grab the clock from the table, turn on the lamp on the end table", + "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-309/trial_T20190908_062818_332126/game.tw-pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-309/trial_T20190908_062818_332126/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..517492ef725e9c46743a5cd971ab607569bdc6ea --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-309/trial_T20190908_062818_332126/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_062818_332126)\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_55_bar__plus_02_dot_61 - object\n AlarmClock_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_82 - 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__minus_02_dot_69_bar__plus_00_dot_08_bar__minus_02_dot_90 - 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_68_bar__plus_00_dot_55_bar__plus_02_dot_49 - object\n CD_bar__minus_03_dot_31_bar__plus_00_dot_19_bar__plus_03_dot_27 - object\n CellPhone_bar__plus_01_dot_62_bar__plus_00_dot_10_bar__minus_03_dot_15 - 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_60_bar__plus_01_dot_12_bar__minus_02_dot_73 - object\n CreditCard_bar__minus_02_dot_16_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__minus_00_dot_19_bar__plus_00_dot_58_bar__minus_02_dot_83 - object\n KeyChain_bar__minus_00_dot_37_bar__plus_00_dot_08_bar__minus_02_dot_78 - object\n KeyChain_bar__minus_00_dot_98_bar__plus_00_dot_08_bar__minus_02_dot_73 - object\n Laptop_bar__plus_00_dot_67_bar__plus_00_dot_83_bar__plus_00_dot_26 - object\n Laptop_bar__minus_01_dot_54_bar__plus_01_dot_11_bar__minus_02_dot_82 - 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_03_dot_24 - object\n Pencil_bar__minus_00_dot_19_bar__plus_00_dot_09_bar__minus_02_dot_73 - object\n Pencil_bar__minus_00_dot_29_bar__plus_01_dot_12_bar__minus_02_dot_73 - object\n Pen_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_02_dot_99 - 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_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_24 - object\n RemoteControl_bar__minus_03_dot_47_bar__plus_00_dot_19_bar__plus_03_dot_39 - 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_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_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_9_bar__minus_4_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 KeyChain_bar__minus_00_dot_98_bar__plus_00_dot_08_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 Pillow_bar__plus_01_dot_82_bar__plus_00_dot_87_bar__plus_01_dot_15 PillowType)\n (objectType Pillow_bar__plus_00_dot_67_bar__plus_00_dot_94_bar__plus_01_dot_22 PillowType)\n (objectType CreditCard_bar__minus_00_dot_60_bar__plus_01_dot_12_bar__minus_02_dot_73 CreditCardType)\n (objectType Window_bar__minus_00_dot_47_bar__plus_02_dot_15_bar__minus_03_dot_30 WindowType)\n (objectType Pencil_bar__minus_00_dot_19_bar__plus_00_dot_09_bar__minus_02_dot_73 PencilType)\n (objectType RemoteControl_bar__plus_01_dot_61_bar__plus_00_dot_56_bar__plus_02_dot_24 RemoteControlType)\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 Mug_bar__minus_00_dot_91_bar__plus_01_dot_11_bar__minus_03_dot_24 MugType)\n (objectType Television_bar__minus_03_dot_88_bar__plus_01_dot_77_bar__plus_02_dot_12 TelevisionType)\n (objectType CD_bar__minus_03_dot_31_bar__plus_00_dot_19_bar__plus_03_dot_27 CDType)\n (objectType CD_bar__plus_01_dot_68_bar__plus_00_dot_55_bar__plus_02_dot_49 CDType)\n (objectType Pen_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_02_dot_99 PenType)\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_02_dot_90 BookType)\n (objectType Laptop_bar__minus_01_dot_54_bar__plus_01_dot_11_bar__minus_02_dot_82 LaptopType)\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 Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__plus_00_dot_58 WindowType)\n (objectType AlarmClock_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_82 AlarmClockType)\n (objectType CellPhone_bar__plus_01_dot_62_bar__plus_00_dot_10_bar__minus_03_dot_15 CellPhoneType)\n (objectType KeyChain_bar__minus_00_dot_19_bar__plus_00_dot_58_bar__minus_02_dot_83 KeyChainType)\n (objectType AlarmClock_bar__plus_01_dot_71_bar__plus_00_dot_55_bar__plus_02_dot_61 AlarmClockType)\n (objectType KeyChain_bar__minus_00_dot_37_bar__plus_00_dot_08_bar__minus_02_dot_78 KeyChainType)\n (objectType 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Laptop_bar__plus_00_dot_67_bar__plus_00_dot_83_bar__plus_00_dot_26 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 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 KeyChain_bar__minus_00_dot_98_bar__plus_00_dot_08_bar__minus_02_dot_73)\n (pickupable Pillow_bar__plus_01_dot_82_bar__plus_00_dot_87_bar__plus_01_dot_15)\n (pickupable Pillow_bar__plus_00_dot_67_bar__plus_00_dot_94_bar__plus_01_dot_22)\n (pickupable CreditCard_bar__minus_00_dot_60_bar__plus_01_dot_12_bar__minus_02_dot_73)\n (pickupable 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(pickupable AlarmClock_bar__plus_01_dot_71_bar__plus_00_dot_55_bar__plus_02_dot_61)\n (pickupable KeyChain_bar__minus_00_dot_37_bar__plus_00_dot_08_bar__minus_02_dot_78)\n (pickupable Pencil_bar__minus_00_dot_29_bar__plus_01_dot_12_bar__minus_02_dot_73)\n (pickupable RemoteControl_bar__minus_03_dot_47_bar__plus_00_dot_19_bar__plus_03_dot_39)\n (pickupable CD_bar__plus_00_dot_33_bar__plus_00_dot_08_bar__minus_02_dot_99)\n (pickupable CreditCard_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_02_dot_82)\n (pickupable Laptop_bar__plus_00_dot_67_bar__plus_00_dot_83_bar__plus_00_dot_26)\n (isReceptacleObject Mug_bar__minus_00_dot_91_bar__plus_01_dot_11_bar__minus_03_dot_24)\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_9_bar__minus_4_bar_2_bar_30)\n \n (cleanable Mug_bar__minus_00_dot_91_bar__plus_01_dot_11_bar__minus_03_dot_24)\n \n (heatable Mug_bar__minus_00_dot_91_bar__plus_01_dot_11_bar__minus_03_dot_24)\n (coolable Mug_bar__minus_00_dot_91_bar__plus_01_dot_11_bar__minus_03_dot_24)\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_67_bar__plus_00_dot_83_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_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 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 Book_bar__minus_02_dot_69_bar__plus_00_dot_08_bar__minus_02_dot_90 Cabinet_bar__minus_03_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64)\n (inReceptacle KeyChain_bar__minus_00_dot_19_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 CD_bar__plus_01_dot_68_bar__plus_00_dot_55_bar__plus_02_dot_49 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_55_bar__plus_02_dot_61 SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38)\n (inReceptacle RemoteControl_bar__plus_01_dot_61_bar__plus_00_dot_56_bar__plus_02_dot_24 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 CellPhone_bar__plus_01_dot_62_bar__plus_00_dot_10_bar__minus_03_dot_15 Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64)\n (inReceptacle KeyChain_bar__minus_00_dot_98_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 KeyChain_bar__minus_00_dot_37_bar__plus_00_dot_08_bar__minus_02_dot_78 Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85)\n (inReceptacle Pencil_bar__minus_00_dot_19_bar__plus_00_dot_09_bar__minus_02_dot_73 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 Pencil_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 CreditCard_bar__minus_02_dot_16_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 CreditCard_bar__minus_00_dot_60_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 Mug_bar__minus_00_dot_91_bar__plus_01_dot_11_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_01_dot_85_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_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 Laptop_bar__minus_01_dot_54_bar__plus_01_dot_11_bar__minus_02_dot_82 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle CellPhone_bar__plus_01_dot_62_bar__plus_00_dot_10_bar__minus_03_dot_15 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 CD_bar__minus_03_dot_31_bar__plus_00_dot_19_bar__plus_03_dot_27 loc_bar__minus_13_bar_11_bar_0_bar_60)\n (objectAtLocation RemoteControl_bar__minus_03_dot_47_bar__plus_00_dot_19_bar__plus_03_dot_39 loc_bar__minus_13_bar_11_bar_0_bar_60)\n (objectAtLocation Laptop_bar__minus_01_dot_54_bar__plus_01_dot_11_bar__minus_02_dot_82 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation Pencil_bar__minus_00_dot_19_bar__plus_00_dot_09_bar__minus_02_dot_73 loc_bar__minus_6_bar__minus_9_bar_1_bar_45)\n (objectAtLocation KeyChain_bar__minus_00_dot_19_bar__plus_00_dot_58_bar__minus_02_dot_83 loc_bar__minus_5_bar__minus_9_bar_1_bar_45)\n (objectAtLocation CreditCard_bar__minus_00_dot_60_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_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_82 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation KeyChain_bar__minus_00_dot_98_bar__plus_00_dot_08_bar__minus_02_dot_73 loc_bar__minus_5_bar__minus_9_bar_2_bar_60)\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 Book_bar__minus_02_dot_69_bar__plus_00_dot_08_bar__minus_02_dot_90 loc_bar__minus_11_bar__minus_8_bar_2_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__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 CellPhone_bar__plus_01_dot_62_bar__plus_00_dot_10_bar__minus_03_dot_15 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_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 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_02_dot_16_bar__plus_01_dot_12_bar__minus_02_dot_82 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation KeyChain_bar__minus_00_dot_37_bar__plus_00_dot_08_bar__minus_02_dot_78 loc_bar__minus_6_bar__minus_9_bar_1_bar_45)\n (objectAtLocation Pencil_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 Laptop_bar__plus_00_dot_67_bar__plus_00_dot_83_bar__plus_00_dot_26 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__plus_01_dot_61_bar__plus_00_dot_56_bar__plus_02_dot_24 loc_bar_6_bar_13_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_68_bar__plus_00_dot_55_bar__plus_02_dot_49 loc_bar_6_bar_13_bar_2_bar_60)\n (objectAtLocation Pen_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 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_03_dot_24 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 AlarmClockType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sidetable 1", "use desklamp 1", "take alarmclock 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-AlarmClock-None-DeskLamp-309/trial_T20190908_062818_332126/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-309/trial_T20190908_062818_332126/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..965afcefe26a3804c293befb08a89129ed87625a --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-309/trial_T20190908_062818_332126/initial_state.pddl @@ -0,0 +1,578 @@ + +(define (problem plan_trial_T20190908_062818_332126) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_55_bar__plus_02_dot_61 - object + AlarmClock_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_82 - 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__minus_02_dot_69_bar__plus_00_dot_08_bar__minus_02_dot_90 - object + CD_bar__plus_00_dot_33_bar__plus_00_dot_08_bar__minus_02_dot_99 - object + CD_bar__plus_01_dot_68_bar__plus_00_dot_55_bar__plus_02_dot_49 - object + CD_bar__minus_03_dot_31_bar__plus_00_dot_19_bar__plus_03_dot_27 - object + CellPhone_bar__plus_01_dot_62_bar__plus_00_dot_10_bar__minus_03_dot_15 - object + Chair_bar__minus_02_dot_07_bar__plus_00_dot_04_bar__minus_02_dot_69 - object + CreditCard_bar__minus_00_dot_60_bar__plus_01_dot_12_bar__minus_02_dot_73 - object + CreditCard_bar__minus_02_dot_16_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__minus_00_dot_19_bar__plus_00_dot_58_bar__minus_02_dot_83 - object + KeyChain_bar__minus_00_dot_37_bar__plus_00_dot_08_bar__minus_02_dot_78 - object + KeyChain_bar__minus_00_dot_98_bar__plus_00_dot_08_bar__minus_02_dot_73 - object + Laptop_bar__plus_00_dot_67_bar__plus_00_dot_83_bar__plus_00_dot_26 - object + Laptop_bar__minus_01_dot_54_bar__plus_01_dot_11_bar__minus_02_dot_82 - 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_03_dot_24 - object + Pencil_bar__minus_00_dot_19_bar__plus_00_dot_09_bar__minus_02_dot_73 - object + Pencil_bar__minus_00_dot_29_bar__plus_01_dot_12_bar__minus_02_dot_73 - object + Pen_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_02_dot_99 - object + Pillow_bar__plus_00_dot_67_bar__plus_00_dot_94_bar__plus_01_dot_22 - 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_24 - object + RemoteControl_bar__minus_03_dot_47_bar__plus_00_dot_19_bar__plus_03_dot_39 - 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_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_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_9_bar__minus_4_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 KeyChain_bar__minus_00_dot_98_bar__plus_00_dot_08_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 Pillow_bar__plus_01_dot_82_bar__plus_00_dot_87_bar__plus_01_dot_15 PillowType) + (objectType Pillow_bar__plus_00_dot_67_bar__plus_00_dot_94_bar__plus_01_dot_22 PillowType) + (objectType CreditCard_bar__minus_00_dot_60_bar__plus_01_dot_12_bar__minus_02_dot_73 CreditCardType) + (objectType Window_bar__minus_00_dot_47_bar__plus_02_dot_15_bar__minus_03_dot_30 WindowType) + (objectType Pencil_bar__minus_00_dot_19_bar__plus_00_dot_09_bar__minus_02_dot_73 PencilType) + (objectType RemoteControl_bar__plus_01_dot_61_bar__plus_00_dot_56_bar__plus_02_dot_24 RemoteControlType) + (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 Mug_bar__minus_00_dot_91_bar__plus_01_dot_11_bar__minus_03_dot_24 MugType) + (objectType Television_bar__minus_03_dot_88_bar__plus_01_dot_77_bar__plus_02_dot_12 TelevisionType) + (objectType CD_bar__minus_03_dot_31_bar__plus_00_dot_19_bar__plus_03_dot_27 CDType) + (objectType CD_bar__plus_01_dot_68_bar__plus_00_dot_55_bar__plus_02_dot_49 CDType) + (objectType Pen_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_02_dot_99 PenType) + (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_02_dot_90 BookType) + (objectType Laptop_bar__minus_01_dot_54_bar__plus_01_dot_11_bar__minus_02_dot_82 LaptopType) + (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 Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__plus_00_dot_58 WindowType) + (objectType AlarmClock_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_82 AlarmClockType) + (objectType CellPhone_bar__plus_01_dot_62_bar__plus_00_dot_10_bar__minus_03_dot_15 CellPhoneType) + (objectType KeyChain_bar__minus_00_dot_19_bar__plus_00_dot_58_bar__minus_02_dot_83 KeyChainType) + (objectType AlarmClock_bar__plus_01_dot_71_bar__plus_00_dot_55_bar__plus_02_dot_61 AlarmClockType) + (objectType KeyChain_bar__minus_00_dot_37_bar__plus_00_dot_08_bar__minus_02_dot_78 KeyChainType) + (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 Pencil_bar__minus_00_dot_29_bar__plus_01_dot_12_bar__minus_02_dot_73 PencilType) + (objectType LaundryHamperLid_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_03_dot_69 LaundryHamperLidType) + (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 RemoteControl_bar__minus_03_dot_47_bar__plus_00_dot_19_bar__plus_03_dot_39 RemoteControlType) + (objectType CD_bar__plus_00_dot_33_bar__plus_00_dot_08_bar__minus_02_dot_99 CDType) + (objectType CreditCard_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_02_dot_82 CreditCardType) + (objectType Blinds_bar__minus_00_dot_48_bar__plus_02_dot_79_bar__minus_03_dot_25 BlindsType) + (objectType Laptop_bar__plus_00_dot_67_bar__plus_00_dot_83_bar__plus_00_dot_26 LaptopType) + (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 KeyChain_bar__minus_00_dot_98_bar__plus_00_dot_08_bar__minus_02_dot_73) + (pickupable Pillow_bar__plus_01_dot_82_bar__plus_00_dot_87_bar__plus_01_dot_15) + (pickupable Pillow_bar__plus_00_dot_67_bar__plus_00_dot_94_bar__plus_01_dot_22) + (pickupable CreditCard_bar__minus_00_dot_60_bar__plus_01_dot_12_bar__minus_02_dot_73) + (pickupable Pencil_bar__minus_00_dot_19_bar__plus_00_dot_09_bar__minus_02_dot_73) + (pickupable RemoteControl_bar__plus_01_dot_61_bar__plus_00_dot_56_bar__plus_02_dot_24) + (pickupable TeddyBear_bar__plus_01_dot_87_bar__plus_00_dot_04_bar__minus_00_dot_56) + (pickupable Mug_bar__minus_00_dot_91_bar__plus_01_dot_11_bar__minus_03_dot_24) + (pickupable CD_bar__minus_03_dot_31_bar__plus_00_dot_19_bar__plus_03_dot_27) + (pickupable CD_bar__plus_01_dot_68_bar__plus_00_dot_55_bar__plus_02_dot_49) + (pickupable Pen_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_02_dot_99) + (pickupable Book_bar__minus_02_dot_69_bar__plus_00_dot_08_bar__minus_02_dot_90) + (pickupable Laptop_bar__minus_01_dot_54_bar__plus_01_dot_11_bar__minus_02_dot_82) + (pickupable AlarmClock_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_82) + (pickupable CellPhone_bar__plus_01_dot_62_bar__plus_00_dot_10_bar__minus_03_dot_15) + (pickupable KeyChain_bar__minus_00_dot_19_bar__plus_00_dot_58_bar__minus_02_dot_83) + (pickupable AlarmClock_bar__plus_01_dot_71_bar__plus_00_dot_55_bar__plus_02_dot_61) + (pickupable KeyChain_bar__minus_00_dot_37_bar__plus_00_dot_08_bar__minus_02_dot_78) + (pickupable Pencil_bar__minus_00_dot_29_bar__plus_01_dot_12_bar__minus_02_dot_73) + (pickupable RemoteControl_bar__minus_03_dot_47_bar__plus_00_dot_19_bar__plus_03_dot_39) + (pickupable CD_bar__plus_00_dot_33_bar__plus_00_dot_08_bar__minus_02_dot_99) + (pickupable CreditCard_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_02_dot_82) + (pickupable Laptop_bar__plus_00_dot_67_bar__plus_00_dot_83_bar__plus_00_dot_26) + (isReceptacleObject Mug_bar__minus_00_dot_91_bar__plus_01_dot_11_bar__minus_03_dot_24) + (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_9_bar__minus_4_bar_2_bar_30) + + (cleanable Mug_bar__minus_00_dot_91_bar__plus_01_dot_11_bar__minus_03_dot_24) + + (heatable Mug_bar__minus_00_dot_91_bar__plus_01_dot_11_bar__minus_03_dot_24) + (coolable Mug_bar__minus_00_dot_91_bar__plus_01_dot_11_bar__minus_03_dot_24) + + + (toggleable DeskLamp_bar__plus_01_dot_87_bar__plus_00_dot_55_bar__plus_02_dot_42) + + + + + (inReceptacle Laptop_bar__plus_00_dot_67_bar__plus_00_dot_83_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_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 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 Book_bar__minus_02_dot_69_bar__plus_00_dot_08_bar__minus_02_dot_90 Cabinet_bar__minus_03_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64) + (inReceptacle KeyChain_bar__minus_00_dot_19_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 CD_bar__plus_01_dot_68_bar__plus_00_dot_55_bar__plus_02_dot_49 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_55_bar__plus_02_dot_61 SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38) + (inReceptacle RemoteControl_bar__plus_01_dot_61_bar__plus_00_dot_56_bar__plus_02_dot_24 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 CellPhone_bar__plus_01_dot_62_bar__plus_00_dot_10_bar__minus_03_dot_15 Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64) + (inReceptacle KeyChain_bar__minus_00_dot_98_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 KeyChain_bar__minus_00_dot_37_bar__plus_00_dot_08_bar__minus_02_dot_78 Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85) + (inReceptacle Pencil_bar__minus_00_dot_19_bar__plus_00_dot_09_bar__minus_02_dot_73 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 Pencil_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) + (inReceptacle CreditCard_bar__minus_02_dot_16_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 CreditCard_bar__minus_00_dot_60_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) + (inReceptacle Mug_bar__minus_00_dot_91_bar__plus_01_dot_11_bar__minus_03_dot_24 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_82 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99) + (inReceptacle Pen_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 Laptop_bar__minus_01_dot_54_bar__plus_01_dot_11_bar__minus_02_dot_82 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99) + (inReceptacle CellPhone_bar__plus_01_dot_62_bar__plus_00_dot_10_bar__minus_03_dot_15 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 CD_bar__minus_03_dot_31_bar__plus_00_dot_19_bar__plus_03_dot_27 loc_bar__minus_13_bar_11_bar_0_bar_60) + (objectAtLocation RemoteControl_bar__minus_03_dot_47_bar__plus_00_dot_19_bar__plus_03_dot_39 loc_bar__minus_13_bar_11_bar_0_bar_60) + (objectAtLocation Laptop_bar__minus_01_dot_54_bar__plus_01_dot_11_bar__minus_02_dot_82 loc_bar__minus_4_bar__minus_9_bar_2_bar_30) + (objectAtLocation Pencil_bar__minus_00_dot_19_bar__plus_00_dot_09_bar__minus_02_dot_73 loc_bar__minus_6_bar__minus_9_bar_1_bar_45) + (objectAtLocation KeyChain_bar__minus_00_dot_19_bar__plus_00_dot_58_bar__minus_02_dot_83 loc_bar__minus_5_bar__minus_9_bar_1_bar_45) + (objectAtLocation CreditCard_bar__minus_00_dot_60_bar__plus_01_dot_12_bar__minus_02_dot_73 loc_bar__minus_4_bar__minus_9_bar_2_bar_30) + (objectAtLocation AlarmClock_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_82 loc_bar__minus_4_bar__minus_9_bar_2_bar_30) + (objectAtLocation KeyChain_bar__minus_00_dot_98_bar__plus_00_dot_08_bar__minus_02_dot_73 loc_bar__minus_5_bar__minus_9_bar_2_bar_60) + (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 Book_bar__minus_02_dot_69_bar__plus_00_dot_08_bar__minus_02_dot_90 loc_bar__minus_11_bar__minus_8_bar_2_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__plus_01_dot_71_bar__plus_00_dot_55_bar__plus_02_dot_61 loc_bar_6_bar_13_bar_2_bar_60) + (objectAtLocation CellPhone_bar__plus_01_dot_62_bar__plus_00_dot_10_bar__minus_03_dot_15 loc_bar_7_bar__minus_8_bar_2_bar_60) + (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_01_dot_22 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_02_dot_16_bar__plus_01_dot_12_bar__minus_02_dot_82 loc_bar__minus_4_bar__minus_9_bar_2_bar_30) + (objectAtLocation KeyChain_bar__minus_00_dot_37_bar__plus_00_dot_08_bar__minus_02_dot_78 loc_bar__minus_6_bar__minus_9_bar_1_bar_45) + (objectAtLocation Pencil_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) + (objectAtLocation Laptop_bar__plus_00_dot_67_bar__plus_00_dot_83_bar__plus_00_dot_26 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__plus_01_dot_61_bar__plus_00_dot_56_bar__plus_02_dot_24 loc_bar_6_bar_13_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_68_bar__plus_00_dot_55_bar__plus_02_dot_49 loc_bar_6_bar_13_bar_2_bar_60) + (objectAtLocation Pen_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 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_03_dot_24 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 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-309/trial_T20190908_062818_332126/traj_data.json 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"rotation": { + "x": 0.0, + "y": 59.9998856, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_b91063b3", + "position": { + "x": -0.6023103, + "y": 1.116164, + "z": -2.73275232 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_a0dbc3b4", + "position": { + "x": -0.187657833, + "y": 0.5837618, + "z": -2.8302083 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pencil_ae739ac2", + "position": { + "x": -0.187657833, + "y": 0.08647525, + "z": -2.72623253 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Laptop_c29734d2", + "position": { + "x": -1.539376, + "y": 1.11416793, + "z": -2.81783485 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "RemoteControl_5e28ac0a", + "position": { + "x": -3.470789, + "y": 0.193707228, + "z": 3.390197 + }, + "rotation": { + "x": 0.0, + "y": 149.999939, + "z": 0.0 + } + }, + { + "objectName": "CD_2144f1bb", + "position": { + "x": -3.31071734, + "y": 0.1906066, + "z": 3.273856 + }, + "rotation": { + "x": 0.0, + "y": 149.999939, + "z": 0.0 + } + }, + { + "objectName": "Pen_54d0a615", + "position": { + "x": -1.22702074, + "y": 1.12182081, + "z": -2.988 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_5d0b27fe", + "position": { + "x": -0.9146655, + "y": 1.11416793, + "z": -3.24324751 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "DeskLamp" + } + ], + "random_seed": 2679913649, + "scene_num": 309 + }, + "task_id": "trial_T20190908_062818_332126", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3PGS1Q1XAY79I_34V1S5K3GVI2T824QQ5XL389UPU96K", + "high_descs": [ + "Turn around and walk in the direction of the three black chairs, hang a right to stand facing the brown clock on the left side of the small round table with a lamp on it", + "Turn the lamp on", + "Pick up the clock from the table" + ], + "task_desc": "Walk to the table with a lamp on it, turn of the lamp, pick up the clock", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2KAGFQU28JY43_3S3AMIZX3XM3CFOMCXN2TZJ9HVHDCS", + "high_descs": [ + "Turn around and walk across the room, then make a right at the black chairs and go to the round table by the bed. ", + "Turn on the lamp on the small round table. ", + "Pick up the alarm clock on the small round table. " + ], + "task_desc": "Pick up the alarm clock.", + "votes": [ + 0, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1SX8IVV82M0LW_3WLEIWSYHRY7QD1M10HM87PLY2RH23", + "high_descs": [ + "Walk to the edge of the nightstand on the right of the bed.", + "Turn the lamp on.", + "Grab a clock from the nightstand." + ], + "task_desc": "Examine 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-309/trial_T20190908_062834_443450/game.tw-pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-309/trial_T20190908_062834_443450/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..1e3536a8140a1627e4168f208c3fe8b77766e928 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-309/trial_T20190908_062834_443450/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: examine the alarmclock with the desklamp.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_062834_443450)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n AlarmClock_bar__minus_00_dot_60_bar__plus_01_dot_12_bar__minus_03_dot_16 - object\n AlarmClock_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_02_dot_82 - object\n AlarmClock_bar__minus_01_dot_85_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_02_dot_99 - 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__minus_00_dot_54_bar__plus_00_dot_58_bar__minus_02_dot_93 - object\n Book_bar__minus_00_dot_91_bar__plus_01_dot_12_bar__minus_03_dot_16 - object\n CD_bar__plus_01_dot_61_bar__plus_00_dot_55_bar__plus_02_dot_49 - object\n CD_bar__minus_00_dot_10_bar__plus_00_dot_58_bar__minus_02_dot_88 - object\n CellPhone_bar__minus_00_dot_45_bar__plus_00_dot_59_bar__minus_02_dot_78 - object\n CellPhone_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_02_dot_82 - 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_61_bar__plus_00_dot_55_bar__plus_02_dot_40 - object\n CreditCard_bar__minus_00_dot_28_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_32 - object\n Laptop_bar__plus_00_dot_10_bar__plus_00_dot_83_bar__plus_01_dot_46 - object\n Laptop_bar__plus_01_dot_53_bar__plus_00_dot_83_bar__plus_01_dot_22 - 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_82_bar__plus_00_dot_08_bar__minus_02_dot_99 - object\n Mug_bar__plus_01_dot_07_bar__plus_00_dot_08_bar__minus_02_dot_83 - object\n Mug_bar__minus_01_dot_54_bar__plus_01_dot_11_bar__minus_02_dot_99 - object\n Pencil_bar__minus_03_dot_32_bar__plus_00_dot_38_bar__minus_02_dot_75 - object\n Pen_bar__minus_00_dot_28_bar__plus_00_dot_59_bar__minus_02_dot_78 - object\n Pen_bar__minus_00_dot_29_bar__plus_01_dot_12_bar__minus_02_dot_82 - object\n Pen_bar__minus_01_dot_34_bar__plus_00_dot_59_bar__minus_02_dot_99 - object\n Pillow_bar__plus_00_dot_39_bar__plus_00_dot_94_bar__plus_00_dot_50 - object\n Pillow_bar__plus_00_dot_67_bar__plus_00_dot_94_bar__plus_00_dot_98 - object\n Pillow_bar__plus_01_dot_24_bar__plus_00_dot_94_bar__plus_00_dot_26 - object\n RemoteControl_bar__minus_01_dot_85_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_3_bar__minus_8_bar_2_bar_60 - location\n loc_bar_4_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__minus_12_bar__minus_8_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 Pillow_bar__plus_00_dot_39_bar__plus_00_dot_94_bar__plus_00_dot_50 PillowType)\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 Mug_bar__minus_01_dot_54_bar__plus_01_dot_11_bar__minus_02_dot_99 MugType)\n (objectType Pillow_bar__plus_00_dot_67_bar__plus_00_dot_94_bar__plus_00_dot_98 PillowType)\n (objectType KeyChain_bar__plus_01_dot_66_bar__plus_00_dot_55_bar__plus_02_dot_32 KeyChainType)\n (objectType RemoteControl_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_90 RemoteControlType)\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 Pen_bar__minus_00_dot_29_bar__plus_01_dot_12_bar__minus_02_dot_82 PenType)\n (objectType Television_bar__minus_03_dot_88_bar__plus_01_dot_77_bar__plus_02_dot_12 TelevisionType)\n (objectType CreditCard_bar__minus_00_dot_28_bar__plus_00_dot_08_bar__minus_02_dot_73 CreditCardType)\n (objectType Laptop_bar__plus_01_dot_53_bar__plus_00_dot_83_bar__plus_01_dot_22 LaptopType)\n (objectType CellPhone_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_02_dot_82 CellPhoneType)\n (objectType AlarmClock_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_02_dot_82 AlarmClockType)\n (objectType Book_bar__minus_00_dot_54_bar__plus_00_dot_58_bar__minus_02_dot_93 BookType)\n (objectType Book_bar__minus_00_dot_91_bar__plus_01_dot_12_bar__minus_03_dot_16 BookType)\n (objectType Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__minus_00_dot_65 BlindsType)\n (objectType Pen_bar__minus_00_dot_28_bar__plus_00_dot_59_bar__minus_02_dot_78 PenType)\n (objectType CreditCard_bar__plus_01_dot_61_bar__plus_00_dot_55_bar__plus_02_dot_40 CreditCardType)\n (objectType Pencil_bar__minus_03_dot_32_bar__plus_00_dot_38_bar__minus_02_dot_75 PencilType)\n (objectType Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__plus_00_dot_60 BlindsType)\n (objectType CellPhone_bar__minus_00_dot_45_bar__plus_00_dot_59_bar__minus_02_dot_78 CellPhoneType)\n (objectType Mug_bar__plus_00_dot_82_bar__plus_00_dot_08_bar__minus_02_dot_99 MugType)\n (objectType Mirror_bar__minus_01_dot_60_bar__plus_01_dot_45_bar__plus_04_dot_00 MirrorType)\n (objectType CD_bar__minus_00_dot_10_bar__plus_00_dot_58_bar__minus_02_dot_88 CDType)\n (objectType Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__plus_00_dot_58 WindowType)\n (objectType Pen_bar__minus_01_dot_34_bar__plus_00_dot_59_bar__minus_02_dot_99 PenType)\n (objectType Mug_bar__plus_01_dot_07_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_01_dot_46 LaptopType)\n (objectType CD_bar__plus_01_dot_61_bar__plus_00_dot_55_bar__plus_02_dot_49 CDType)\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 AlarmClock_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_02_dot_99 AlarmClockType)\n (objectType AlarmClock_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_03_dot_16 AlarmClockType)\n (objectType Blinds_bar__minus_00_dot_48_bar__plus_02_dot_79_bar__minus_03_dot_25 BlindsType)\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 Pillow_bar__plus_00_dot_39_bar__plus_00_dot_94_bar__plus_00_dot_50)\n (pickupable Mug_bar__minus_01_dot_54_bar__plus_01_dot_11_bar__minus_02_dot_99)\n (pickupable Pillow_bar__plus_00_dot_67_bar__plus_00_dot_94_bar__plus_00_dot_98)\n (pickupable KeyChain_bar__plus_01_dot_66_bar__plus_00_dot_55_bar__plus_02_dot_32)\n (pickupable RemoteControl_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_90)\n (pickupable TeddyBear_bar__plus_01_dot_87_bar__plus_00_dot_04_bar__minus_00_dot_56)\n (pickupable Pen_bar__minus_00_dot_29_bar__plus_01_dot_12_bar__minus_02_dot_82)\n (pickupable CreditCard_bar__minus_00_dot_28_bar__plus_00_dot_08_bar__minus_02_dot_73)\n 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(pickupable Mug_bar__plus_01_dot_07_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_01_dot_46)\n (pickupable CD_bar__plus_01_dot_61_bar__plus_00_dot_55_bar__plus_02_dot_49)\n (pickupable Pillow_bar__plus_01_dot_24_bar__plus_00_dot_94_bar__plus_00_dot_26)\n (pickupable AlarmClock_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_02_dot_99)\n (pickupable AlarmClock_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_03_dot_16)\n (pickupable AlarmClock_bar__minus_00_dot_60_bar__plus_01_dot_12_bar__minus_03_dot_16)\n (isReceptacleObject Mug_bar__minus_01_dot_54_bar__plus_01_dot_11_bar__minus_02_dot_99)\n (isReceptacleObject Mug_bar__plus_00_dot_82_bar__plus_00_dot_08_bar__minus_02_dot_99)\n (isReceptacleObject Mug_bar__plus_01_dot_07_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_12_bar__minus_8_bar_0_bar_30)\n \n (cleanable Mug_bar__minus_01_dot_54_bar__plus_01_dot_11_bar__minus_02_dot_99)\n (cleanable Mug_bar__plus_00_dot_82_bar__plus_00_dot_08_bar__minus_02_dot_99)\n (cleanable Mug_bar__plus_01_dot_07_bar__plus_00_dot_08_bar__minus_02_dot_83)\n \n (heatable Mug_bar__minus_01_dot_54_bar__plus_01_dot_11_bar__minus_02_dot_99)\n (heatable Mug_bar__plus_00_dot_82_bar__plus_00_dot_08_bar__minus_02_dot_99)\n (heatable Mug_bar__plus_01_dot_07_bar__plus_00_dot_08_bar__minus_02_dot_83)\n (coolable Mug_bar__minus_01_dot_54_bar__plus_01_dot_11_bar__minus_02_dot_99)\n (coolable Mug_bar__plus_00_dot_82_bar__plus_00_dot_08_bar__minus_02_dot_99)\n (coolable Mug_bar__plus_01_dot_07_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 Pillow_bar__plus_00_dot_39_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_00_dot_10_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 Laptop_bar__plus_01_dot_53_bar__plus_00_dot_83_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_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)\n (inReceptacle Pillow_bar__plus_00_dot_67_bar__plus_00_dot_94_bar__plus_00_dot_98 Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67)\n (inReceptacle Book_bar__minus_00_dot_54_bar__plus_00_dot_58_bar__minus_02_dot_93 Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85)\n (inReceptacle CellPhone_bar__minus_00_dot_45_bar__plus_00_dot_59_bar__minus_02_dot_78 Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85)\n (inReceptacle Pen_bar__minus_00_dot_28_bar__plus_00_dot_59_bar__minus_02_dot_78 Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85)\n (inReceptacle CD_bar__minus_00_dot_10_bar__plus_00_dot_58_bar__minus_02_dot_88 Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85)\n (inReceptacle CreditCard_bar__plus_01_dot_61_bar__plus_00_dot_55_bar__plus_02_dot_40 SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38)\n (inReceptacle KeyChain_bar__plus_01_dot_66_bar__plus_00_dot_55_bar__plus_02_dot_32 SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38)\n (inReceptacle CD_bar__plus_01_dot_61_bar__plus_00_dot_55_bar__plus_02_dot_49 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 Pen_bar__minus_01_dot_34_bar__plus_00_dot_59_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 CreditCard_bar__minus_00_dot_28_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 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 CellPhone_bar__minus_02_dot_16_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 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 AlarmClock_bar__minus_02_dot_16_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 Mug_bar__minus_01_dot_54_bar__plus_01_dot_11_bar__minus_02_dot_99 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle Book_bar__minus_00_dot_91_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 RemoteControl_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_01_dot_85_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_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 Pen_bar__minus_00_dot_29_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 Pencil_bar__minus_03_dot_32_bar__plus_00_dot_38_bar__minus_02_dot_75 GarbageCan_bar__minus_03_dot_34_bar__plus_00_dot_04_bar__minus_02_dot_80)\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_07_bar__plus_00_dot_08_bar__minus_02_dot_83 loc_bar_4_bar__minus_8_bar_2_bar_60)\n (objectAtLocation Pen_bar__minus_01_dot_34_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__plus_01_dot_61_bar__plus_00_dot_55_bar__plus_02_dot_49 loc_bar_6_bar_13_bar_2_bar_60)\n (objectAtLocation Laptop_bar__plus_01_dot_53_bar__plus_00_dot_83_bar__plus_01_dot_22 loc_bar__minus_2_bar_3_bar_1_bar_45)\n (objectAtLocation CreditCard_bar__minus_00_dot_28_bar__plus_00_dot_08_bar__minus_02_dot_73 loc_bar__minus_6_bar__minus_9_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 CellPhone_bar__minus_00_dot_45_bar__plus_00_dot_59_bar__minus_02_dot_78 loc_bar__minus_5_bar__minus_9_bar_1_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 Book_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 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 AlarmClock_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_03_dot_16 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation Pen_bar__minus_00_dot_29_bar__plus_01_dot_12_bar__minus_02_dot_82 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation Mug_bar__plus_00_dot_82_bar__plus_00_dot_08_bar__minus_02_dot_99 loc_bar_3_bar__minus_8_bar_2_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_54_bar__plus_00_dot_58_bar__minus_02_dot_93 loc_bar__minus_5_bar__minus_9_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_02_dot_99 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation CellPhone_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_02_dot_82 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_00_dot_67_bar__plus_00_dot_94_bar__plus_00_dot_98 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_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__plus_01_dot_61_bar__plus_00_dot_55_bar__plus_02_dot_40 loc_bar_6_bar_13_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__plus_01_dot_66_bar__plus_00_dot_55_bar__plus_02_dot_32 loc_bar_6_bar_13_bar_2_bar_60)\n (objectAtLocation Pencil_bar__minus_03_dot_32_bar__plus_00_dot_38_bar__minus_02_dot_75 loc_bar__minus_13_bar__minus_9_bar_2_bar_60)\n (objectAtLocation Laptop_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 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_85_bar__plus_01_dot_12_bar__minus_02_dot_90 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_00_dot_10_bar__plus_00_dot_58_bar__minus_02_dot_88 loc_bar__minus_5_bar__minus_9_bar_1_bar_45)\n (objectAtLocation Pen_bar__minus_00_dot_28_bar__plus_00_dot_59_bar__minus_02_dot_78 loc_bar__minus_5_bar__minus_9_bar_1_bar_45)\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_01_dot_54_bar__plus_01_dot_11_bar__minus_02_dot_99 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 AlarmClockType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to desk 1", "take alarmclock 4 from desk 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-AlarmClock-None-DeskLamp-309/trial_T20190908_062834_443450/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-309/trial_T20190908_062834_443450/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..d2a83a043a417e8008a166f2887d6df669984d5d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-309/trial_T20190908_062834_443450/initial_state.pddl @@ -0,0 +1,606 @@ + +(define (problem plan_trial_T20190908_062834_443450) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + AlarmClock_bar__minus_00_dot_60_bar__plus_01_dot_12_bar__minus_03_dot_16 - object + AlarmClock_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_02_dot_82 - object + AlarmClock_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_03_dot_16 - object + AlarmClock_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_02_dot_99 - object + Blinds_bar__minus_00_dot_48_bar__plus_02_dot_79_bar__minus_03_dot_25 - object + 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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_3_bar__minus_8_bar_2_bar_60 - location + loc_bar_4_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__minus_12_bar__minus_8_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 Pillow_bar__plus_00_dot_39_bar__plus_00_dot_94_bar__plus_00_dot_50 PillowType) + (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 Mug_bar__minus_01_dot_54_bar__plus_01_dot_11_bar__minus_02_dot_99 MugType) + (objectType Pillow_bar__plus_00_dot_67_bar__plus_00_dot_94_bar__plus_00_dot_98 PillowType) + (objectType KeyChain_bar__plus_01_dot_66_bar__plus_00_dot_55_bar__plus_02_dot_32 KeyChainType) + (objectType RemoteControl_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_90 RemoteControlType) + (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 Pen_bar__minus_00_dot_29_bar__plus_01_dot_12_bar__minus_02_dot_82 PenType) + (objectType Television_bar__minus_03_dot_88_bar__plus_01_dot_77_bar__plus_02_dot_12 TelevisionType) + (objectType CreditCard_bar__minus_00_dot_28_bar__plus_00_dot_08_bar__minus_02_dot_73 CreditCardType) + (objectType Laptop_bar__plus_01_dot_53_bar__plus_00_dot_83_bar__plus_01_dot_22 LaptopType) + (objectType CellPhone_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_02_dot_82 CellPhoneType) + (objectType AlarmClock_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_02_dot_82 AlarmClockType) + (objectType Book_bar__minus_00_dot_54_bar__plus_00_dot_58_bar__minus_02_dot_93 BookType) + (objectType Book_bar__minus_00_dot_91_bar__plus_01_dot_12_bar__minus_03_dot_16 BookType) + (objectType Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__minus_00_dot_65 BlindsType) + (objectType Pen_bar__minus_00_dot_28_bar__plus_00_dot_59_bar__minus_02_dot_78 PenType) + (objectType CreditCard_bar__plus_01_dot_61_bar__plus_00_dot_55_bar__plus_02_dot_40 CreditCardType) + (objectType Pencil_bar__minus_03_dot_32_bar__plus_00_dot_38_bar__minus_02_dot_75 PencilType) + (objectType Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__plus_00_dot_60 BlindsType) + (objectType CellPhone_bar__minus_00_dot_45_bar__plus_00_dot_59_bar__minus_02_dot_78 CellPhoneType) + (objectType Mug_bar__plus_00_dot_82_bar__plus_00_dot_08_bar__minus_02_dot_99 MugType) + (objectType Mirror_bar__minus_01_dot_60_bar__plus_01_dot_45_bar__plus_04_dot_00 MirrorType) + (objectType CD_bar__minus_00_dot_10_bar__plus_00_dot_58_bar__minus_02_dot_88 CDType) + (objectType Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__plus_00_dot_58 WindowType) + (objectType Pen_bar__minus_01_dot_34_bar__plus_00_dot_59_bar__minus_02_dot_99 PenType) + (objectType Mug_bar__plus_01_dot_07_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_01_dot_46 LaptopType) + (objectType CD_bar__plus_01_dot_61_bar__plus_00_dot_55_bar__plus_02_dot_49 CDType) + (objectType Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__minus_00_dot_68 WindowType) + (objectType 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(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 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DeskLamp_bar__plus_01_dot_87_bar__plus_00_dot_55_bar__plus_02_dot_42) + + + + + (inReceptacle Pillow_bar__plus_00_dot_39_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_00_dot_10_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 Laptop_bar__plus_01_dot_53_bar__plus_00_dot_83_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_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_00_dot_67_bar__plus_00_dot_94_bar__plus_00_dot_98 Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67) + (inReceptacle Book_bar__minus_00_dot_54_bar__plus_00_dot_58_bar__minus_02_dot_93 Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85) + (inReceptacle CellPhone_bar__minus_00_dot_45_bar__plus_00_dot_59_bar__minus_02_dot_78 Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85) + (inReceptacle Pen_bar__minus_00_dot_28_bar__plus_00_dot_59_bar__minus_02_dot_78 Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85) + (inReceptacle CD_bar__minus_00_dot_10_bar__plus_00_dot_58_bar__minus_02_dot_88 Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85) + (inReceptacle CreditCard_bar__plus_01_dot_61_bar__plus_00_dot_55_bar__plus_02_dot_40 SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38) + (inReceptacle KeyChain_bar__plus_01_dot_66_bar__plus_00_dot_55_bar__plus_02_dot_32 SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38) + (inReceptacle CD_bar__plus_01_dot_61_bar__plus_00_dot_55_bar__plus_02_dot_49 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 Pen_bar__minus_01_dot_34_bar__plus_00_dot_59_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 CreditCard_bar__minus_00_dot_28_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 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 CellPhone_bar__minus_02_dot_16_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 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) + (inReceptacle AlarmClock_bar__minus_02_dot_16_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 Mug_bar__minus_01_dot_54_bar__plus_01_dot_11_bar__minus_02_dot_99 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99) + (inReceptacle Book_bar__minus_00_dot_91_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) + (inReceptacle RemoteControl_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_01_dot_85_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) + (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) + (inReceptacle Pen_bar__minus_00_dot_29_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 Pencil_bar__minus_03_dot_32_bar__plus_00_dot_38_bar__minus_02_dot_75 GarbageCan_bar__minus_03_dot_34_bar__plus_00_dot_04_bar__minus_02_dot_80) + + + (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 Mug_bar__plus_01_dot_07_bar__plus_00_dot_08_bar__minus_02_dot_83 loc_bar_4_bar__minus_8_bar_2_bar_60) + (objectAtLocation Pen_bar__minus_01_dot_34_bar__plus_00_dot_59_bar__minus_02_dot_99 loc_bar__minus_7_bar__minus_9_bar_2_bar_60) + (objectAtLocation CD_bar__plus_01_dot_61_bar__plus_00_dot_55_bar__plus_02_dot_49 loc_bar_6_bar_13_bar_2_bar_60) + (objectAtLocation Laptop_bar__plus_01_dot_53_bar__plus_00_dot_83_bar__plus_01_dot_22 loc_bar__minus_2_bar_3_bar_1_bar_45) + (objectAtLocation CreditCard_bar__minus_00_dot_28_bar__plus_00_dot_08_bar__minus_02_dot_73 loc_bar__minus_6_bar__minus_9_bar_1_bar_45) + (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) + (objectAtLocation CellPhone_bar__minus_00_dot_45_bar__plus_00_dot_59_bar__minus_02_dot_78 loc_bar__minus_5_bar__minus_9_bar_1_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 Book_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 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) + (objectAtLocation AlarmClock_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_03_dot_16 loc_bar__minus_4_bar__minus_9_bar_2_bar_30) + (objectAtLocation Pen_bar__minus_00_dot_29_bar__plus_01_dot_12_bar__minus_02_dot_82 loc_bar__minus_4_bar__minus_9_bar_2_bar_30) + (objectAtLocation Mug_bar__plus_00_dot_82_bar__plus_00_dot_08_bar__minus_02_dot_99 loc_bar_3_bar__minus_8_bar_2_bar_60) + (objectAtLocation Book_bar__minus_00_dot_54_bar__plus_00_dot_58_bar__minus_02_dot_93 loc_bar__minus_5_bar__minus_9_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_02_dot_16_bar__plus_01_dot_12_bar__minus_02_dot_99 loc_bar__minus_4_bar__minus_9_bar_2_bar_30) + (objectAtLocation CellPhone_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_02_dot_82 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_00_dot_67_bar__plus_00_dot_94_bar__plus_00_dot_98 loc_bar__minus_2_bar_3_bar_1_bar_45) + (objectAtLocation Pillow_bar__plus_00_dot_39_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__plus_01_dot_61_bar__plus_00_dot_55_bar__plus_02_dot_40 loc_bar_6_bar_13_bar_2_bar_60) + (objectAtLocation KeyChain_bar__plus_01_dot_66_bar__plus_00_dot_55_bar__plus_02_dot_32 loc_bar_6_bar_13_bar_2_bar_60) + (objectAtLocation Pencil_bar__minus_03_dot_32_bar__plus_00_dot_38_bar__minus_02_dot_75 loc_bar__minus_13_bar__minus_9_bar_2_bar_60) + (objectAtLocation Laptop_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) + (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_85_bar__plus_01_dot_12_bar__minus_02_dot_90 loc_bar__minus_4_bar__minus_9_bar_2_bar_30) + (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_10_bar__plus_00_dot_58_bar__minus_02_dot_88 loc_bar__minus_5_bar__minus_9_bar_1_bar_45) + (objectAtLocation Pen_bar__minus_00_dot_28_bar__plus_00_dot_59_bar__minus_02_dot_78 loc_bar__minus_5_bar__minus_9_bar_1_bar_45) + (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_01_dot_54_bar__plus_01_dot_11_bar__minus_02_dot_99 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 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-309/trial_T20190908_062834_443450/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-309/trial_T20190908_062834_443450/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..b2c535e9f8904f4970a70f0bfd735a1b6a90d30d --- /dev/null +++ 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1.11803126, + "z": -2.81783485 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pillow_f2157d80", + "position": { + "x": 0.673893332, + "y": 0.940567851, + "z": 0.975805938 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Laptop_c29734d2", + "position": { + "x": 0.104224443, + "y": 0.830701053, + "z": 1.45604289 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Book_abcab9aa", + "position": { + "x": -0.9146655, + "y": 1.11596942, + "z": -3.158165 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "AlarmClock_411a3848", + "position": { + "x": -0.6023103, + "y": 1.11803126, + "z": -3.158165 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CellPhone_37f270fb", + "position": { + "x": -0.454586536, + "y": 0.5876839, + "z": -2.77822042 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pillow_f2157d80", + "position": { + "x": 1.243562, + "y": 0.940567851, + "z": 0.255450666 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pillow_418be6a9", + "position": { + "x": 0.389058948, + "y": 0.940567851, + "z": 0.49556905 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "TeddyBear_28ee0ee1", + "position": { + "x": 1.868, + "y": 0.0369279981, + "z": -0.561 + }, + "rotation": { + "x": 0.0, + "y": 59.9998856, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_b91063b3", + "position": { + "x": -0.276634067, + "y": 0.08457509, + "z": -2.72623253 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_a0dbc3b4", + "position": { + "x": 1.65725231, + "y": 0.5547943, + "z": 2.324979 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "Pencil_ae739ac2", + "position": { + "x": -3.323803, + "y": 0.377257943, + "z": -2.751837 + }, + "rotation": { + "x": 0.0, + "y": 4.80901861, + "z": 0.0 + } + }, + { + "objectName": "Laptop_c29734d2", + "position": { + "x": 1.52839637, + "y": 0.830701053, + "z": 1.2159245 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "RemoteControl_5e28ac0a", + "position": { + "x": -1.8517313, + "y": 1.11887515, + "z": -2.90291739 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CD_2144f1bb", + "position": { + "x": 1.60917866, + "y": 0.5525314, + "z": 2.49004769 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Pen_54d0a615", + "position": { + "x": -1.33795238, + "y": 0.588578939, + "z": -2.98617244 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_5d0b27fe", + "position": { + "x": 1.0684135, + "y": 0.07573402, + "z": -2.82545376 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "DeskLamp" + } + ], + "random_seed": 4091498540, + "scene_num": 309 + }, + "task_id": "trial_T20190908_062834_443450", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "ALKQPW0O9C98N_3LQ8PUHQFO9B1YFOQ32EVNW2MSCIHQ", + "high_descs": [ + "Turn right and go to the clock to the left of the plant", + "Pick the clock up", + "Turn right, walk around the bed to the table with the lamp on it", + "Hold the clock and turn the light on" + ], + "task_desc": "Look at a clock by the light of a lamp", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3YMU66OBIQPX579T0F2BABJM7GYHGD", + "high_descs": [ + "Go right and then turn right again to face the clock and plant on the white desk.", + "Pick the clock up from the desk.", + "Turn around and cross the room and then turn to the right and face the small table with the lamp on it.", + "Turn the lamp on." + ], + "task_desc": "Pick up a clock and turn a lamp on.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A36DK84J5YJ942_3M81GAB8A30ERJ0L3JXRIEKQIQDQBC", + "high_descs": [ + "move to the shelf behind you", + "pick up a clock from the shelf", + "move to the end table to the left of the bed", + "Turn on the lamp" + ], + "task_desc": "Inspect a clock with a lamp.", + "votes": [ + 1, + 1, + 0 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Laptop-None-DeskLamp-317/trial_T20190909_001814_883589/game.tw-pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Laptop-None-DeskLamp-317/trial_T20190909_001814_883589/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..e9cc7429776da629994147df89b51b64c96e381b --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Laptop-None-DeskLamp-317/trial_T20190909_001814_883589/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 laptop 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_001814_883589)\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_40_bar__plus_00_dot_97_bar__minus_01_dot_63 - object\n Blinds_bar__plus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 - object\n Blinds_bar__minus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 - object\n Book_bar__plus_00_dot_58_bar__plus_00_dot_22_bar__minus_01_dot_71 - object\n Book_bar__plus_00_dot_90_bar__plus_00_dot_42_bar__plus_00_dot_09 - object\n Book_bar__minus_00_dot_39_bar__plus_00_dot_22_bar__minus_01_dot_66 - object\n Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86 - object\n Box_bar__minus_01_dot_75_bar__plus_00_dot_25_bar__plus_01_dot_50 - object\n CD_bar__plus_01_dot_70_bar__plus_00_dot_04_bar__minus_02_dot_08 - object\n CD_bar__minus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_56 - object\n CD_bar__minus_02_dot_21_bar__plus_00_dot_06_bar__minus_01_dot_70 - object\n CellPhone_bar__plus_01_dot_65_bar__plus_00_dot_04_bar__minus_02_dot_08 - object\n CellPhone_bar__plus_01_dot_69_bar__plus_00_dot_04_bar__minus_01_dot_87 - object\n Cloth_bar__minus_01_dot_15_bar__plus_00_dot_00_bar__minus_02_dot_12 - object\n Cloth_bar__minus_01_dot_29_bar__plus_00_dot_00_bar__minus_01_dot_94 - object\n CreditCard_bar__minus_00_dot_21_bar__plus_00_dot_61_bar__minus_01_dot_83 - object\n DeskLamp_bar__plus_02_dot_27_bar__plus_00_dot_57_bar__plus_01_dot_44 - object\n KeyChain_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_63 - object\n KeyChain_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_78 - object\n KeyChain_bar__plus_01_dot_59_bar__plus_00_dot_04_bar__minus_01_dot_92 - object\n Laptop_bar__minus_00_dot_50_bar__plus_00_dot_97_bar__minus_01_dot_72 - object\n LaundryHamperLid_bar__minus_01_dot_61_bar__plus_00_dot_48_bar__minus_02_dot_06 - object\n LightSwitch_bar__minus_02_dot_46_bar__plus_01_dot_27_bar__minus_00_dot_10 - object\n Mirror_bar__plus_02_dot_46_bar__plus_01_dot_32_bar__minus_01_dot_42 - object\n Pencil_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_63 - object\n Pencil_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__plus_01_dot_29 - object\n Pencil_bar__minus_00_dot_49_bar__plus_00_dot_41_bar__minus_01_dot_66 - object\n Pen_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_85 - object\n Pen_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__plus_01_dot_51 - object\n Pen_bar__minus_00_dot_58_bar__plus_00_dot_81_bar__minus_01_dot_77 - object\n Pillow_bar__plus_00_dot_65_bar__plus_00_dot_48_bar__plus_00_dot_42 - object\n Pillow_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_00_dot_25 - object\n Poster_bar__plus_02_dot_44_bar__plus_01_dot_51_bar__plus_00_dot_01 - object\n TeddyBear_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_46 - object\n Window_bar__plus_01_dot_40_bar__plus_01_dot_82_bar__minus_02_dot_35 - object\n Window_bar__minus_01_dot_44_bar__plus_01_dot_82_bar__minus_02_dot_35 - object\n Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07 - receptacle\n Drawer_bar__plus_00_dot_40_bar__plus_00_dot_10_bar__minus_01_dot_63 - receptacle\n Drawer_bar__plus_00_dot_40_bar__plus_00_dot_28_bar__minus_01_dot_63 - receptacle\n Drawer_bar__plus_00_dot_40_bar__plus_00_dot_48_bar__minus_01_dot_63 - receptacle\n Drawer_bar__plus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63 - receptacle\n Drawer_bar__plus_00_dot_40_bar__plus_00_dot_86_bar__minus_01_dot_63 - receptacle\n Drawer_bar__plus_02_dot_21_bar__plus_00_dot_47_bar__plus_01_dot_33 - receptacle\n Drawer_bar__minus_00_dot_39_bar__plus_00_dot_10_bar__minus_01_dot_63 - receptacle\n Drawer_bar__minus_00_dot_39_bar__plus_00_dot_28_bar__minus_01_dot_63 - receptacle\n Drawer_bar__minus_00_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_63 - receptacle\n Drawer_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_01_dot_63 - receptacle\n Drawer_bar__minus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63 - receptacle\n Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80 - receptacle\n GarbageCan_bar__minus_02_dot_21_bar__plus_00_dot_00_bar__minus_01_dot_74 - receptacle\n LaundryHamper_bar__minus_01_dot_61_bar__plus_00_dot_01_bar__minus_02_dot_06 - receptacle\n Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02 - receptacle\n SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51 - receptacle\n loc_bar_8_bar__minus_4_bar_0_bar_15 - location\n loc_bar__minus_8_bar_0_bar_3_bar_45 - location\n loc_bar__minus_1_bar__minus_2_bar_2_bar_30 - location\n loc_bar_5_bar_4_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_1_bar_2_bar_45 - location\n loc_bar_1_bar__minus_4_bar_2_bar_60 - location\n loc_bar_8_bar__minus_4_bar_2_bar_60 - location\n loc_bar_5_bar__minus_5_bar_0_bar_45 - location\n loc_bar_6_bar__minus_6_bar_2_bar__minus_30 - location\n loc_bar__minus_1_bar__minus_1_bar_2_bar_45 - location\n loc_bar__minus_2_bar__minus_2_bar_2_bar_45 - location\n loc_bar__minus_5_bar__minus_7_bar_2_bar__minus_15 - location\n loc_bar__minus_7_bar_4_bar_0_bar_60 - location\n loc_bar_8_bar__minus_6_bar_1_bar_30 - location\n loc_bar__minus_5_bar__minus_7_bar_2_bar__minus_30 - location\n loc_bar__minus_5_bar__minus_7_bar_2_bar_60 - location\n loc_bar_6_bar__minus_6_bar_2_bar__minus_15 - location\n loc_bar__minus_3_bar__minus_2_bar_2_bar_45 - location\n loc_bar_7_bar__minus_6_bar_2_bar_60 - location\n loc_bar_0_bar__minus_2_bar_2_bar_30 - location\n loc_bar_5_bar_5_bar_1_bar_45 - location\n loc_bar__minus_5_bar__minus_7_bar_3_bar_60 - location\n loc_bar__minus_5_bar__minus_4_bar_3_bar_60 - location\n loc_bar_0_bar__minus_2_bar_2_bar_45 - location\n loc_bar_0_bar__minus_1_bar_2_bar_45 - location\n loc_bar__minus_8_bar_4_bar_0_bar_60 - location\n loc_bar__minus_6_bar_3_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02 SafeType)\n (receptacleType Drawer_bar__minus_00_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_63 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_40_bar__plus_00_dot_10_bar__minus_01_dot_63 DrawerType)\n (receptacleType SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51 SideTableType)\n (receptacleType GarbageCan_bar__minus_02_dot_21_bar__plus_00_dot_00_bar__minus_01_dot_74 GarbageCanType)\n (receptacleType Drawer_bar__plus_02_dot_21_bar__plus_00_dot_47_bar__plus_01_dot_33 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_40_bar__plus_00_dot_86_bar__minus_01_dot_63 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_40_bar__plus_00_dot_48_bar__minus_01_dot_63 DrawerType)\n (receptacleType LaundryHamper_bar__minus_01_dot_61_bar__plus_00_dot_01_bar__minus_02_dot_06 LaundryHamperType)\n (receptacleType Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80 DresserType)\n (receptacleType Drawer_bar__minus_00_dot_39_bar__plus_00_dot_10_bar__minus_01_dot_63 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_39_bar__plus_00_dot_28_bar__minus_01_dot_63 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_40_bar__plus_00_dot_28_bar__minus_01_dot_63 DrawerType)\n (receptacleType Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07 BedType)\n (receptacleType Drawer_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_01_dot_63 DrawerType)\n (objectType KeyChain_bar__plus_01_dot_59_bar__plus_00_dot_04_bar__minus_01_dot_92 KeyChainType)\n (objectType Cloth_bar__minus_01_dot_15_bar__plus_00_dot_00_bar__minus_02_dot_12 ClothType)\n (objectType LightSwitch_bar__minus_02_dot_46_bar__plus_01_dot_27_bar__minus_00_dot_10 LightSwitchType)\n (objectType KeyChain_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_78 KeyChainType)\n (objectType CD_bar__minus_02_dot_21_bar__plus_00_dot_06_bar__minus_01_dot_70 CDType)\n (objectType Pencil_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__plus_01_dot_29 PencilType)\n (objectType AlarmClock_bar__plus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_63 AlarmClockType)\n (objectType KeyChain_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_63 KeyChainType)\n (objectType CellPhone_bar__plus_01_dot_65_bar__plus_00_dot_04_bar__minus_02_dot_08 CellPhoneType)\n (objectType Cloth_bar__minus_01_dot_29_bar__plus_00_dot_00_bar__minus_01_dot_94 ClothType)\n (objectType Mirror_bar__plus_02_dot_46_bar__plus_01_dot_32_bar__minus_01_dot_42 MirrorType)\n (objectType Window_bar__minus_01_dot_44_bar__plus_01_dot_82_bar__minus_02_dot_35 WindowType)\n (objectType Box_bar__minus_01_dot_75_bar__plus_00_dot_25_bar__plus_01_dot_50 BoxType)\n (objectType Pen_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_85 PenType)\n (objectType Laptop_bar__minus_00_dot_50_bar__plus_00_dot_97_bar__minus_01_dot_72 LaptopType)\n (objectType Window_bar__plus_01_dot_40_bar__plus_01_dot_82_bar__minus_02_dot_35 WindowType)\n (objectType Book_bar__minus_00_dot_39_bar__plus_00_dot_22_bar__minus_01_dot_66 BookType)\n (objectType Blinds_bar__plus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 BlindsType)\n (objectType Book_bar__plus_00_dot_58_bar__plus_00_dot_22_bar__minus_01_dot_71 BookType)\n (objectType CD_bar__plus_01_dot_70_bar__plus_00_dot_04_bar__minus_02_dot_08 CDType)\n (objectType Pen_bar__minus_00_dot_58_bar__plus_00_dot_81_bar__minus_01_dot_77 PenType)\n (objectType TeddyBear_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_46 TeddyBearType)\n (objectType Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86 BowlType)\n (objectType Pillow_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_00_dot_25 PillowType)\n (objectType Pencil_bar__minus_00_dot_49_bar__plus_00_dot_41_bar__minus_01_dot_66 PencilType)\n (objectType CD_bar__minus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_56 CDType)\n (objectType Pencil_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_63 PencilType)\n (objectType Blinds_bar__minus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 BlindsType)\n (objectType Book_bar__plus_00_dot_90_bar__plus_00_dot_42_bar__plus_00_dot_09 BookType)\n (objectType LaundryHamperLid_bar__minus_01_dot_61_bar__plus_00_dot_48_bar__minus_02_dot_06 LaundryHamperLidType)\n (objectType DeskLamp_bar__plus_02_dot_27_bar__plus_00_dot_57_bar__plus_01_dot_44 DeskLampType)\n (objectType Pillow_bar__plus_00_dot_65_bar__plus_00_dot_48_bar__plus_00_dot_42 PillowType)\n (objectType Pen_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__plus_01_dot_51 PenType)\n (objectType CellPhone_bar__plus_01_dot_69_bar__plus_00_dot_04_bar__minus_01_dot_87 CellPhoneType)\n (objectType Poster_bar__plus_02_dot_44_bar__plus_01_dot_51_bar__plus_00_dot_01 PosterType)\n (objectType CreditCard_bar__minus_00_dot_21_bar__plus_00_dot_61_bar__minus_01_dot_83 CreditCardType)\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 ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType BowlType)\n (canContain SideTableType CDType)\n (canContain SideTableType BoxType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType ClothType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType AlarmClockType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType ClothType)\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 ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain LaundryHamperType ClothType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType BowlType)\n (canContain DresserType CDType)\n (canContain DresserType BoxType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType ClothType)\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 ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain 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 ClothType)\n (canContain DrawerType PencilType)\n (pickupable KeyChain_bar__plus_01_dot_59_bar__plus_00_dot_04_bar__minus_01_dot_92)\n (pickupable Cloth_bar__minus_01_dot_15_bar__plus_00_dot_00_bar__minus_02_dot_12)\n (pickupable KeyChain_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_78)\n (pickupable CD_bar__minus_02_dot_21_bar__plus_00_dot_06_bar__minus_01_dot_70)\n (pickupable Pencil_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__plus_01_dot_29)\n (pickupable AlarmClock_bar__plus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_63)\n (pickupable KeyChain_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_63)\n (pickupable CellPhone_bar__plus_01_dot_65_bar__plus_00_dot_04_bar__minus_02_dot_08)\n (pickupable Cloth_bar__minus_01_dot_29_bar__plus_00_dot_00_bar__minus_01_dot_94)\n (pickupable Box_bar__minus_01_dot_75_bar__plus_00_dot_25_bar__plus_01_dot_50)\n (pickupable Pen_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_85)\n (pickupable Laptop_bar__minus_00_dot_50_bar__plus_00_dot_97_bar__minus_01_dot_72)\n (pickupable Book_bar__minus_00_dot_39_bar__plus_00_dot_22_bar__minus_01_dot_66)\n (pickupable Book_bar__plus_00_dot_58_bar__plus_00_dot_22_bar__minus_01_dot_71)\n (pickupable CD_bar__plus_01_dot_70_bar__plus_00_dot_04_bar__minus_02_dot_08)\n (pickupable Pen_bar__minus_00_dot_58_bar__plus_00_dot_81_bar__minus_01_dot_77)\n (pickupable TeddyBear_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_46)\n (pickupable Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86)\n (pickupable Pillow_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_00_dot_25)\n (pickupable Pencil_bar__minus_00_dot_49_bar__plus_00_dot_41_bar__minus_01_dot_66)\n (pickupable CD_bar__minus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_56)\n (pickupable Pencil_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_63)\n (pickupable Book_bar__plus_00_dot_90_bar__plus_00_dot_42_bar__plus_00_dot_09)\n (pickupable Pillow_bar__plus_00_dot_65_bar__plus_00_dot_48_bar__plus_00_dot_42)\n (pickupable Pen_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__plus_01_dot_51)\n (pickupable CellPhone_bar__plus_01_dot_69_bar__plus_00_dot_04_bar__minus_01_dot_87)\n (pickupable CreditCard_bar__minus_00_dot_21_bar__plus_00_dot_61_bar__minus_01_dot_83)\n (isReceptacleObject Box_bar__minus_01_dot_75_bar__plus_00_dot_25_bar__plus_01_dot_50)\n (isReceptacleObject Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86)\n (openable Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02)\n (openable Drawer_bar__minus_00_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_63)\n (openable Drawer_bar__plus_00_dot_40_bar__plus_00_dot_10_bar__minus_01_dot_63)\n (openable Drawer_bar__plus_02_dot_21_bar__plus_00_dot_47_bar__plus_01_dot_33)\n (openable Drawer_bar__plus_00_dot_40_bar__plus_00_dot_86_bar__minus_01_dot_63)\n (openable Drawer_bar__plus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63)\n (openable Drawer_bar__plus_00_dot_40_bar__plus_00_dot_48_bar__minus_01_dot_63)\n (openable Drawer_bar__minus_00_dot_39_bar__plus_00_dot_10_bar__minus_01_dot_63)\n (openable Drawer_bar__minus_00_dot_39_bar__plus_00_dot_28_bar__minus_01_dot_63)\n (openable Drawer_bar__minus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63)\n (openable Drawer_bar__plus_00_dot_40_bar__plus_00_dot_28_bar__minus_01_dot_63)\n (openable Drawer_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_01_dot_63)\n \n (atLocation agent1 loc_bar__minus_6_bar_3_bar_2_bar_30)\n \n (cleanable Cloth_bar__minus_01_dot_15_bar__plus_00_dot_00_bar__minus_02_dot_12)\n (cleanable Cloth_bar__minus_01_dot_29_bar__plus_00_dot_00_bar__minus_01_dot_94)\n (cleanable Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86)\n \n \n (coolable Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86)\n \n \n (toggleable DeskLamp_bar__plus_02_dot_27_bar__plus_00_dot_57_bar__plus_01_dot_44)\n \n \n \n \n (inReceptacle Book_bar__plus_00_dot_58_bar__plus_00_dot_22_bar__minus_01_dot_71 Drawer_bar__plus_00_dot_40_bar__plus_00_dot_28_bar__minus_01_dot_63)\n (inReceptacle Pen_bar__minus_00_dot_58_bar__plus_00_dot_81_bar__minus_01_dot_77 Drawer_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_01_dot_63)\n (inReceptacle Pencil_bar__minus_00_dot_49_bar__plus_00_dot_41_bar__minus_01_dot_66 Drawer_bar__minus_00_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_63)\n (inReceptacle CreditCard_bar__minus_00_dot_21_bar__plus_00_dot_61_bar__minus_01_dot_83 Drawer_bar__minus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63)\n (inReceptacle Pencil_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__plus_01_dot_29 SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51)\n (inReceptacle DeskLamp_bar__plus_02_dot_27_bar__plus_00_dot_57_bar__plus_01_dot_44 SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51)\n (inReceptacle Pen_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__plus_01_dot_51 SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51)\n (inReceptacle Pen_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_85 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80)\n (inReceptacle Laptop_bar__minus_00_dot_50_bar__plus_00_dot_97_bar__minus_01_dot_72 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80)\n (inReceptacle KeyChain_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_78 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80)\n (inReceptacle Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80)\n (inReceptacle AlarmClock_bar__plus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_63 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80)\n (inReceptacle KeyChain_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_63 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80)\n (inReceptacle Pencil_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_63 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80)\n (inReceptacle CD_bar__minus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_56 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80)\n (inReceptacle Book_bar__minus_00_dot_39_bar__plus_00_dot_22_bar__minus_01_dot_66 Drawer_bar__minus_00_dot_39_bar__plus_00_dot_28_bar__minus_01_dot_63)\n (inReceptacle CD_bar__minus_02_dot_21_bar__plus_00_dot_06_bar__minus_01_dot_70 GarbageCan_bar__minus_02_dot_21_bar__plus_00_dot_00_bar__minus_01_dot_74)\n (inReceptacle KeyChain_bar__plus_01_dot_59_bar__plus_00_dot_04_bar__minus_01_dot_92 Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02)\n (inReceptacle CellPhone_bar__plus_01_dot_69_bar__plus_00_dot_04_bar__minus_01_dot_87 Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02)\n (inReceptacle CellPhone_bar__plus_01_dot_65_bar__plus_00_dot_04_bar__minus_02_dot_08 Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02)\n (inReceptacle Book_bar__plus_00_dot_90_bar__plus_00_dot_42_bar__plus_00_dot_09 Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07)\n (inReceptacle Pillow_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_00_dot_25 Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07)\n (inReceptacle Pillow_bar__plus_00_dot_65_bar__plus_00_dot_48_bar__plus_00_dot_42 Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07)\n \n \n (receptacleAtLocation Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07 loc_bar_5_bar__minus_5_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_40_bar__plus_00_dot_10_bar__minus_01_dot_63 loc_bar__minus_1_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_40_bar__plus_00_dot_28_bar__minus_01_dot_63 loc_bar_0_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_40_bar__plus_00_dot_48_bar__minus_01_dot_63 loc_bar_0_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63 loc_bar_0_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_40_bar__plus_00_dot_86_bar__minus_01_dot_63 loc_bar_0_bar__minus_2_bar_2_bar_30)\n (receptacleAtLocation Drawer_bar__plus_02_dot_21_bar__plus_00_dot_47_bar__plus_01_dot_33 loc_bar_5_bar_5_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_39_bar__plus_00_dot_10_bar__minus_01_dot_63 loc_bar__minus_4_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_39_bar__plus_00_dot_28_bar__minus_01_dot_63 loc_bar__minus_1_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_63 loc_bar__minus_3_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_01_dot_63 loc_bar__minus_1_bar__minus_2_bar_2_bar_30)\n (receptacleAtLocation Drawer_bar__minus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63 loc_bar__minus_2_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_02_dot_21_bar__plus_00_dot_00_bar__minus_01_dot_74 loc_bar__minus_5_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation LaundryHamper_bar__minus_01_dot_61_bar__plus_00_dot_01_bar__minus_02_dot_06 loc_bar__minus_5_bar__minus_7_bar_3_bar_60)\n (receptacleAtLocation Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02 loc_bar_8_bar__minus_4_bar_2_bar_60)\n (receptacleAtLocation SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51 loc_bar_5_bar_4_bar_1_bar_60)\n (objectAtLocation Pen_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__plus_01_dot_51 loc_bar_5_bar_4_bar_1_bar_60)\n (objectAtLocation CD_bar__plus_01_dot_70_bar__plus_00_dot_04_bar__minus_02_dot_08 loc_bar_7_bar__minus_6_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__plus_01_dot_59_bar__plus_00_dot_04_bar__minus_01_dot_92 loc_bar_8_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Pencil_bar__minus_00_dot_49_bar__plus_00_dot_41_bar__minus_01_dot_66 loc_bar__minus_3_bar__minus_2_bar_2_bar_45)\n (objectAtLocation CellPhone_bar__plus_01_dot_69_bar__plus_00_dot_04_bar__minus_01_dot_87 loc_bar_8_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Book_bar__plus_00_dot_90_bar__plus_00_dot_42_bar__plus_00_dot_09 loc_bar_5_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Book_bar__minus_00_dot_39_bar__plus_00_dot_22_bar__minus_01_dot_66 loc_bar__minus_1_bar__minus_1_bar_2_bar_45)\n (objectAtLocation KeyChain_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_63 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Pencil_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__plus_01_dot_29 loc_bar_5_bar_4_bar_1_bar_60)\n (objectAtLocation Pen_bar__minus_00_dot_58_bar__plus_00_dot_81_bar__minus_01_dot_77 loc_bar__minus_1_bar__minus_2_bar_2_bar_30)\n (objectAtLocation CD_bar__minus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_56 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Box_bar__minus_01_dot_75_bar__plus_00_dot_25_bar__plus_01_dot_50 loc_bar__minus_7_bar_4_bar_0_bar_60)\n (objectAtLocation Book_bar__plus_00_dot_58_bar__plus_00_dot_22_bar__minus_01_dot_71 loc_bar_0_bar__minus_1_bar_2_bar_45)\n (objectAtLocation LaundryHamperLid_bar__minus_01_dot_61_bar__plus_00_dot_48_bar__minus_02_dot_06 loc_bar__minus_5_bar__minus_7_bar_3_bar_60)\n (objectAtLocation Cloth_bar__minus_01_dot_15_bar__plus_00_dot_00_bar__minus_02_dot_12 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__plus_01_dot_65_bar__plus_00_dot_04_bar__minus_02_dot_08 loc_bar_8_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Pencil_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_63 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation AlarmClock_bar__plus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_63 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation TeddyBear_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_46 loc_bar__minus_8_bar_4_bar_0_bar_60)\n (objectAtLocation CreditCard_bar__minus_00_dot_21_bar__plus_00_dot_61_bar__minus_01_dot_83 loc_bar__minus_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation DeskLamp_bar__plus_02_dot_27_bar__plus_00_dot_57_bar__plus_01_dot_44 loc_bar_5_bar_4_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_78 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Pillow_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_00_dot_25 loc_bar_5_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Pillow_bar__plus_00_dot_65_bar__plus_00_dot_48_bar__plus_00_dot_42 loc_bar_5_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Laptop_bar__minus_00_dot_50_bar__plus_00_dot_97_bar__minus_01_dot_72 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Poster_bar__plus_02_dot_44_bar__plus_01_dot_51_bar__plus_00_dot_01 loc_bar_8_bar__minus_4_bar_0_bar_15)\n (objectAtLocation Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation LightSwitch_bar__minus_02_dot_46_bar__plus_01_dot_27_bar__minus_00_dot_10 loc_bar__minus_8_bar_0_bar_3_bar_45)\n (objectAtLocation Cloth_bar__minus_01_dot_29_bar__plus_00_dot_00_bar__minus_01_dot_94 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Mirror_bar__plus_02_dot_46_bar__plus_01_dot_32_bar__minus_01_dot_42 loc_bar_8_bar__minus_6_bar_1_bar_30)\n (objectAtLocation CD_bar__minus_02_dot_21_bar__plus_00_dot_06_bar__minus_01_dot_70 loc_bar__minus_5_bar__minus_4_bar_3_bar_60)\n (objectAtLocation Pen_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_85 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_01_dot_44_bar__plus_01_dot_82_bar__minus_02_dot_35 loc_bar__minus_5_bar__minus_7_bar_2_bar__minus_15)\n (objectAtLocation Window_bar__plus_01_dot_40_bar__plus_01_dot_82_bar__minus_02_dot_35 loc_bar_6_bar__minus_6_bar_2_bar__minus_15)\n (objectAtLocation Blinds_bar__plus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 loc_bar_6_bar__minus_6_bar_2_bar__minus_30)\n (objectAtLocation Blinds_bar__minus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 loc_bar__minus_5_bar__minus_7_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 LaptopType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to dresser 1", "take laptop 1 from dresser 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-Laptop-None-DeskLamp-317/trial_T20190909_001814_883589/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Laptop-None-DeskLamp-317/trial_T20190909_001814_883589/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..abd1e284ec9b84816493ad760369ba7d1bd3d067 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Laptop-None-DeskLamp-317/trial_T20190909_001814_883589/initial_state.pddl @@ -0,0 +1,623 @@ + +(define (problem plan_trial_T20190909_001814_883589) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_40_bar__plus_00_dot_97_bar__minus_01_dot_63 - object + Blinds_bar__plus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 - object + Blinds_bar__minus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 - object + Book_bar__plus_00_dot_58_bar__plus_00_dot_22_bar__minus_01_dot_71 - object + Book_bar__plus_00_dot_90_bar__plus_00_dot_42_bar__plus_00_dot_09 - object + Book_bar__minus_00_dot_39_bar__plus_00_dot_22_bar__minus_01_dot_66 - object + Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86 - object + Box_bar__minus_01_dot_75_bar__plus_00_dot_25_bar__plus_01_dot_50 - object + CD_bar__plus_01_dot_70_bar__plus_00_dot_04_bar__minus_02_dot_08 - object + CD_bar__minus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_56 - object + CD_bar__minus_02_dot_21_bar__plus_00_dot_06_bar__minus_01_dot_70 - object + CellPhone_bar__plus_01_dot_65_bar__plus_00_dot_04_bar__minus_02_dot_08 - object + CellPhone_bar__plus_01_dot_69_bar__plus_00_dot_04_bar__minus_01_dot_87 - object + Cloth_bar__minus_01_dot_15_bar__plus_00_dot_00_bar__minus_02_dot_12 - object + Cloth_bar__minus_01_dot_29_bar__plus_00_dot_00_bar__minus_01_dot_94 - object + CreditCard_bar__minus_00_dot_21_bar__plus_00_dot_61_bar__minus_01_dot_83 - object + DeskLamp_bar__plus_02_dot_27_bar__plus_00_dot_57_bar__plus_01_dot_44 - object + KeyChain_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_63 - object + KeyChain_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_78 - object + KeyChain_bar__plus_01_dot_59_bar__plus_00_dot_04_bar__minus_01_dot_92 - object + Laptop_bar__minus_00_dot_50_bar__plus_00_dot_97_bar__minus_01_dot_72 - object + LaundryHamperLid_bar__minus_01_dot_61_bar__plus_00_dot_48_bar__minus_02_dot_06 - object + LightSwitch_bar__minus_02_dot_46_bar__plus_01_dot_27_bar__minus_00_dot_10 - object + Mirror_bar__plus_02_dot_46_bar__plus_01_dot_32_bar__minus_01_dot_42 - object + Pencil_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_63 - object + Pencil_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__plus_01_dot_29 - object + Pencil_bar__minus_00_dot_49_bar__plus_00_dot_41_bar__minus_01_dot_66 - object + Pen_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_85 - object + Pen_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__plus_01_dot_51 - object + Pen_bar__minus_00_dot_58_bar__plus_00_dot_81_bar__minus_01_dot_77 - object + Pillow_bar__plus_00_dot_65_bar__plus_00_dot_48_bar__plus_00_dot_42 - object + Pillow_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_00_dot_25 - object + Poster_bar__plus_02_dot_44_bar__plus_01_dot_51_bar__plus_00_dot_01 - object + TeddyBear_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_46 - object + Window_bar__plus_01_dot_40_bar__plus_01_dot_82_bar__minus_02_dot_35 - object + Window_bar__minus_01_dot_44_bar__plus_01_dot_82_bar__minus_02_dot_35 - object + Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07 - receptacle + Drawer_bar__plus_00_dot_40_bar__plus_00_dot_10_bar__minus_01_dot_63 - receptacle + Drawer_bar__plus_00_dot_40_bar__plus_00_dot_28_bar__minus_01_dot_63 - receptacle + Drawer_bar__plus_00_dot_40_bar__plus_00_dot_48_bar__minus_01_dot_63 - receptacle + Drawer_bar__plus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63 - receptacle + Drawer_bar__plus_00_dot_40_bar__plus_00_dot_86_bar__minus_01_dot_63 - receptacle + Drawer_bar__plus_02_dot_21_bar__plus_00_dot_47_bar__plus_01_dot_33 - receptacle + Drawer_bar__minus_00_dot_39_bar__plus_00_dot_10_bar__minus_01_dot_63 - receptacle + Drawer_bar__minus_00_dot_39_bar__plus_00_dot_28_bar__minus_01_dot_63 - receptacle + Drawer_bar__minus_00_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_63 - receptacle + Drawer_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_01_dot_63 - receptacle + Drawer_bar__minus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63 - receptacle + Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80 - receptacle + GarbageCan_bar__minus_02_dot_21_bar__plus_00_dot_00_bar__minus_01_dot_74 - receptacle + LaundryHamper_bar__minus_01_dot_61_bar__plus_00_dot_01_bar__minus_02_dot_06 - receptacle + Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02 - receptacle + SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51 - receptacle + loc_bar_8_bar__minus_4_bar_0_bar_15 - location + loc_bar__minus_8_bar_0_bar_3_bar_45 - location + loc_bar__minus_1_bar__minus_2_bar_2_bar_30 - location + loc_bar_5_bar_4_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_1_bar_2_bar_45 - location + loc_bar_1_bar__minus_4_bar_2_bar_60 - location + loc_bar_8_bar__minus_4_bar_2_bar_60 - location + loc_bar_5_bar__minus_5_bar_0_bar_45 - location + loc_bar_6_bar__minus_6_bar_2_bar__minus_30 - location + loc_bar__minus_1_bar__minus_1_bar_2_bar_45 - location + loc_bar__minus_2_bar__minus_2_bar_2_bar_45 - location + loc_bar__minus_5_bar__minus_7_bar_2_bar__minus_15 - location + loc_bar__minus_7_bar_4_bar_0_bar_60 - location + loc_bar_8_bar__minus_6_bar_1_bar_30 - location + loc_bar__minus_5_bar__minus_7_bar_2_bar__minus_30 - location + loc_bar__minus_5_bar__minus_7_bar_2_bar_60 - location + loc_bar_6_bar__minus_6_bar_2_bar__minus_15 - location + loc_bar__minus_3_bar__minus_2_bar_2_bar_45 - location + loc_bar_7_bar__minus_6_bar_2_bar_60 - location + loc_bar_0_bar__minus_2_bar_2_bar_30 - location + loc_bar_5_bar_5_bar_1_bar_45 - location + loc_bar__minus_5_bar__minus_7_bar_3_bar_60 - location + loc_bar__minus_5_bar__minus_4_bar_3_bar_60 - 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__minus_8_bar_4_bar_0_bar_60 - location + loc_bar__minus_6_bar_3_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02 SafeType) + (receptacleType Drawer_bar__minus_00_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_63 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_40_bar__plus_00_dot_10_bar__minus_01_dot_63 DrawerType) + (receptacleType SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51 SideTableType) + (receptacleType GarbageCan_bar__minus_02_dot_21_bar__plus_00_dot_00_bar__minus_01_dot_74 GarbageCanType) + (receptacleType Drawer_bar__plus_02_dot_21_bar__plus_00_dot_47_bar__plus_01_dot_33 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_40_bar__plus_00_dot_86_bar__minus_01_dot_63 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_40_bar__plus_00_dot_48_bar__minus_01_dot_63 DrawerType) + (receptacleType LaundryHamper_bar__minus_01_dot_61_bar__plus_00_dot_01_bar__minus_02_dot_06 LaundryHamperType) + (receptacleType Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80 DresserType) + (receptacleType Drawer_bar__minus_00_dot_39_bar__plus_00_dot_10_bar__minus_01_dot_63 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_39_bar__plus_00_dot_28_bar__minus_01_dot_63 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_40_bar__plus_00_dot_28_bar__minus_01_dot_63 DrawerType) + (receptacleType Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07 BedType) + (receptacleType Drawer_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_01_dot_63 DrawerType) + (objectType KeyChain_bar__plus_01_dot_59_bar__plus_00_dot_04_bar__minus_01_dot_92 KeyChainType) + (objectType Cloth_bar__minus_01_dot_15_bar__plus_00_dot_00_bar__minus_02_dot_12 ClothType) + (objectType LightSwitch_bar__minus_02_dot_46_bar__plus_01_dot_27_bar__minus_00_dot_10 LightSwitchType) + (objectType KeyChain_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_78 KeyChainType) + (objectType CD_bar__minus_02_dot_21_bar__plus_00_dot_06_bar__minus_01_dot_70 CDType) + (objectType Pencil_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__plus_01_dot_29 PencilType) + (objectType AlarmClock_bar__plus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_63 AlarmClockType) + (objectType KeyChain_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_63 KeyChainType) + (objectType CellPhone_bar__plus_01_dot_65_bar__plus_00_dot_04_bar__minus_02_dot_08 CellPhoneType) + (objectType Cloth_bar__minus_01_dot_29_bar__plus_00_dot_00_bar__minus_01_dot_94 ClothType) + (objectType Mirror_bar__plus_02_dot_46_bar__plus_01_dot_32_bar__minus_01_dot_42 MirrorType) + (objectType Window_bar__minus_01_dot_44_bar__plus_01_dot_82_bar__minus_02_dot_35 WindowType) + (objectType Box_bar__minus_01_dot_75_bar__plus_00_dot_25_bar__plus_01_dot_50 BoxType) + (objectType Pen_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_85 PenType) + (objectType Laptop_bar__minus_00_dot_50_bar__plus_00_dot_97_bar__minus_01_dot_72 LaptopType) + (objectType Window_bar__plus_01_dot_40_bar__plus_01_dot_82_bar__minus_02_dot_35 WindowType) + (objectType Book_bar__minus_00_dot_39_bar__plus_00_dot_22_bar__minus_01_dot_66 BookType) + (objectType Blinds_bar__plus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 BlindsType) + (objectType Book_bar__plus_00_dot_58_bar__plus_00_dot_22_bar__minus_01_dot_71 BookType) + (objectType CD_bar__plus_01_dot_70_bar__plus_00_dot_04_bar__minus_02_dot_08 CDType) + (objectType Pen_bar__minus_00_dot_58_bar__plus_00_dot_81_bar__minus_01_dot_77 PenType) + (objectType TeddyBear_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_46 TeddyBearType) + (objectType Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86 BowlType) + (objectType Pillow_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_00_dot_25 PillowType) + (objectType Pencil_bar__minus_00_dot_49_bar__plus_00_dot_41_bar__minus_01_dot_66 PencilType) + (objectType CD_bar__minus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_56 CDType) + (objectType Pencil_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_63 PencilType) + (objectType Blinds_bar__minus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 BlindsType) + (objectType Book_bar__plus_00_dot_90_bar__plus_00_dot_42_bar__plus_00_dot_09 BookType) + (objectType LaundryHamperLid_bar__minus_01_dot_61_bar__plus_00_dot_48_bar__minus_02_dot_06 LaundryHamperLidType) + (objectType DeskLamp_bar__plus_02_dot_27_bar__plus_00_dot_57_bar__plus_01_dot_44 DeskLampType) + (objectType Pillow_bar__plus_00_dot_65_bar__plus_00_dot_48_bar__plus_00_dot_42 PillowType) + (objectType Pen_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__plus_01_dot_51 PenType) + (objectType CellPhone_bar__plus_01_dot_69_bar__plus_00_dot_04_bar__minus_01_dot_87 CellPhoneType) + (objectType Poster_bar__plus_02_dot_44_bar__plus_01_dot_51_bar__plus_00_dot_01 PosterType) + (objectType CreditCard_bar__minus_00_dot_21_bar__plus_00_dot_61_bar__minus_01_dot_83 CreditCardType) + (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 ClothType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType ClothType) + (canContain DrawerType PencilType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType BowlType) + (canContain SideTableType CDType) + (canContain SideTableType BoxType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType ClothType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType AlarmClockType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType ClothType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType ClothType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType ClothType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType ClothType) + (canContain DrawerType PencilType) + (canContain LaundryHamperType ClothType) + (canContain DresserType PenType) + (canContain DresserType BookType) + (canContain DresserType BowlType) + (canContain DresserType CDType) + (canContain DresserType BoxType) + (canContain DresserType CellPhoneType) + (canContain DresserType KeyChainType) + (canContain DresserType CreditCardType) + (canContain DresserType ClothType) + (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 ClothType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType ClothType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType ClothType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType ClothType) + (canContain DrawerType PencilType) + (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 ClothType) + (canContain DrawerType PencilType) + (pickupable KeyChain_bar__plus_01_dot_59_bar__plus_00_dot_04_bar__minus_01_dot_92) + (pickupable Cloth_bar__minus_01_dot_15_bar__plus_00_dot_00_bar__minus_02_dot_12) + (pickupable KeyChain_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_78) + (pickupable CD_bar__minus_02_dot_21_bar__plus_00_dot_06_bar__minus_01_dot_70) + (pickupable Pencil_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__plus_01_dot_29) + (pickupable AlarmClock_bar__plus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_63) + (pickupable KeyChain_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_63) + (pickupable CellPhone_bar__plus_01_dot_65_bar__plus_00_dot_04_bar__minus_02_dot_08) + (pickupable Cloth_bar__minus_01_dot_29_bar__plus_00_dot_00_bar__minus_01_dot_94) + (pickupable Box_bar__minus_01_dot_75_bar__plus_00_dot_25_bar__plus_01_dot_50) + (pickupable Pen_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_85) + (pickupable Laptop_bar__minus_00_dot_50_bar__plus_00_dot_97_bar__minus_01_dot_72) + (pickupable Book_bar__minus_00_dot_39_bar__plus_00_dot_22_bar__minus_01_dot_66) + (pickupable Book_bar__plus_00_dot_58_bar__plus_00_dot_22_bar__minus_01_dot_71) + (pickupable CD_bar__plus_01_dot_70_bar__plus_00_dot_04_bar__minus_02_dot_08) + (pickupable Pen_bar__minus_00_dot_58_bar__plus_00_dot_81_bar__minus_01_dot_77) + (pickupable TeddyBear_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_46) + (pickupable Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86) + (pickupable Pillow_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_00_dot_25) + (pickupable Pencil_bar__minus_00_dot_49_bar__plus_00_dot_41_bar__minus_01_dot_66) + (pickupable CD_bar__minus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_56) + (pickupable Pencil_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_63) + (pickupable Book_bar__plus_00_dot_90_bar__plus_00_dot_42_bar__plus_00_dot_09) + (pickupable Pillow_bar__plus_00_dot_65_bar__plus_00_dot_48_bar__plus_00_dot_42) + (pickupable Pen_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__plus_01_dot_51) + (pickupable CellPhone_bar__plus_01_dot_69_bar__plus_00_dot_04_bar__minus_01_dot_87) + (pickupable CreditCard_bar__minus_00_dot_21_bar__plus_00_dot_61_bar__minus_01_dot_83) + (isReceptacleObject Box_bar__minus_01_dot_75_bar__plus_00_dot_25_bar__plus_01_dot_50) + (isReceptacleObject Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86) + (openable Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02) + (openable Drawer_bar__minus_00_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_63) + (openable Drawer_bar__plus_00_dot_40_bar__plus_00_dot_10_bar__minus_01_dot_63) + (openable Drawer_bar__plus_02_dot_21_bar__plus_00_dot_47_bar__plus_01_dot_33) + (openable Drawer_bar__plus_00_dot_40_bar__plus_00_dot_86_bar__minus_01_dot_63) + (openable Drawer_bar__plus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63) + (openable Drawer_bar__plus_00_dot_40_bar__plus_00_dot_48_bar__minus_01_dot_63) + (openable Drawer_bar__minus_00_dot_39_bar__plus_00_dot_10_bar__minus_01_dot_63) + (openable Drawer_bar__minus_00_dot_39_bar__plus_00_dot_28_bar__minus_01_dot_63) + (openable Drawer_bar__minus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63) + (openable Drawer_bar__plus_00_dot_40_bar__plus_00_dot_28_bar__minus_01_dot_63) + (openable Drawer_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_01_dot_63) + + (atLocation agent1 loc_bar__minus_6_bar_3_bar_2_bar_30) + + (cleanable Cloth_bar__minus_01_dot_15_bar__plus_00_dot_00_bar__minus_02_dot_12) + (cleanable Cloth_bar__minus_01_dot_29_bar__plus_00_dot_00_bar__minus_01_dot_94) + (cleanable Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86) + + + (coolable Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86) + + + (toggleable DeskLamp_bar__plus_02_dot_27_bar__plus_00_dot_57_bar__plus_01_dot_44) + + + + + (inReceptacle Book_bar__plus_00_dot_58_bar__plus_00_dot_22_bar__minus_01_dot_71 Drawer_bar__plus_00_dot_40_bar__plus_00_dot_28_bar__minus_01_dot_63) + (inReceptacle Pen_bar__minus_00_dot_58_bar__plus_00_dot_81_bar__minus_01_dot_77 Drawer_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_01_dot_63) + (inReceptacle Pencil_bar__minus_00_dot_49_bar__plus_00_dot_41_bar__minus_01_dot_66 Drawer_bar__minus_00_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_63) + (inReceptacle CreditCard_bar__minus_00_dot_21_bar__plus_00_dot_61_bar__minus_01_dot_83 Drawer_bar__minus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63) + (inReceptacle Pencil_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__plus_01_dot_29 SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51) + (inReceptacle DeskLamp_bar__plus_02_dot_27_bar__plus_00_dot_57_bar__plus_01_dot_44 SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51) + (inReceptacle Pen_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__plus_01_dot_51 SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51) + (inReceptacle Pen_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_85 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80) + (inReceptacle Laptop_bar__minus_00_dot_50_bar__plus_00_dot_97_bar__minus_01_dot_72 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80) + (inReceptacle KeyChain_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_78 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80) + (inReceptacle Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80) + (inReceptacle AlarmClock_bar__plus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_63 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80) + (inReceptacle KeyChain_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_63 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80) + (inReceptacle Pencil_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_63 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80) + (inReceptacle CD_bar__minus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_56 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80) + (inReceptacle Book_bar__minus_00_dot_39_bar__plus_00_dot_22_bar__minus_01_dot_66 Drawer_bar__minus_00_dot_39_bar__plus_00_dot_28_bar__minus_01_dot_63) + (inReceptacle CD_bar__minus_02_dot_21_bar__plus_00_dot_06_bar__minus_01_dot_70 GarbageCan_bar__minus_02_dot_21_bar__plus_00_dot_00_bar__minus_01_dot_74) + (inReceptacle KeyChain_bar__plus_01_dot_59_bar__plus_00_dot_04_bar__minus_01_dot_92 Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02) + (inReceptacle CellPhone_bar__plus_01_dot_69_bar__plus_00_dot_04_bar__minus_01_dot_87 Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02) + (inReceptacle CellPhone_bar__plus_01_dot_65_bar__plus_00_dot_04_bar__minus_02_dot_08 Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02) + (inReceptacle Book_bar__plus_00_dot_90_bar__plus_00_dot_42_bar__plus_00_dot_09 Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07) + (inReceptacle Pillow_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_00_dot_25 Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07) + (inReceptacle Pillow_bar__plus_00_dot_65_bar__plus_00_dot_48_bar__plus_00_dot_42 Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07) + + + (receptacleAtLocation Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07 loc_bar_5_bar__minus_5_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_40_bar__plus_00_dot_10_bar__minus_01_dot_63 loc_bar__minus_1_bar__minus_1_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_40_bar__plus_00_dot_28_bar__minus_01_dot_63 loc_bar_0_bar__minus_1_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_40_bar__plus_00_dot_48_bar__minus_01_dot_63 loc_bar_0_bar__minus_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63 loc_bar_0_bar__minus_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_40_bar__plus_00_dot_86_bar__minus_01_dot_63 loc_bar_0_bar__minus_2_bar_2_bar_30) + (receptacleAtLocation Drawer_bar__plus_02_dot_21_bar__plus_00_dot_47_bar__plus_01_dot_33 loc_bar_5_bar_5_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_39_bar__plus_00_dot_10_bar__minus_01_dot_63 loc_bar__minus_4_bar__minus_1_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_39_bar__plus_00_dot_28_bar__minus_01_dot_63 loc_bar__minus_1_bar__minus_1_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_63 loc_bar__minus_3_bar__minus_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_01_dot_63 loc_bar__minus_1_bar__minus_2_bar_2_bar_30) + (receptacleAtLocation Drawer_bar__minus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63 loc_bar__minus_2_bar__minus_2_bar_2_bar_45) + (receptacleAtLocation Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80 loc_bar_1_bar__minus_4_bar_2_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_02_dot_21_bar__plus_00_dot_00_bar__minus_01_dot_74 loc_bar__minus_5_bar__minus_4_bar_3_bar_60) + (receptacleAtLocation LaundryHamper_bar__minus_01_dot_61_bar__plus_00_dot_01_bar__minus_02_dot_06 loc_bar__minus_5_bar__minus_7_bar_3_bar_60) + (receptacleAtLocation Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02 loc_bar_8_bar__minus_4_bar_2_bar_60) + (receptacleAtLocation SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51 loc_bar_5_bar_4_bar_1_bar_60) + (objectAtLocation Pen_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__plus_01_dot_51 loc_bar_5_bar_4_bar_1_bar_60) + (objectAtLocation CD_bar__plus_01_dot_70_bar__plus_00_dot_04_bar__minus_02_dot_08 loc_bar_7_bar__minus_6_bar_2_bar_60) + (objectAtLocation KeyChain_bar__plus_01_dot_59_bar__plus_00_dot_04_bar__minus_01_dot_92 loc_bar_8_bar__minus_4_bar_2_bar_60) + (objectAtLocation Pencil_bar__minus_00_dot_49_bar__plus_00_dot_41_bar__minus_01_dot_66 loc_bar__minus_3_bar__minus_2_bar_2_bar_45) + (objectAtLocation CellPhone_bar__plus_01_dot_69_bar__plus_00_dot_04_bar__minus_01_dot_87 loc_bar_8_bar__minus_4_bar_2_bar_60) + (objectAtLocation Book_bar__plus_00_dot_90_bar__plus_00_dot_42_bar__plus_00_dot_09 loc_bar_5_bar__minus_5_bar_0_bar_45) + (objectAtLocation Book_bar__minus_00_dot_39_bar__plus_00_dot_22_bar__minus_01_dot_66 loc_bar__minus_1_bar__minus_1_bar_2_bar_45) + (objectAtLocation KeyChain_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_63 loc_bar_1_bar__minus_4_bar_2_bar_60) + (objectAtLocation 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(objectAtLocation Pencil_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_63 loc_bar_1_bar__minus_4_bar_2_bar_60) + (objectAtLocation AlarmClock_bar__plus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_63 loc_bar_1_bar__minus_4_bar_2_bar_60) + (objectAtLocation TeddyBear_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_46 loc_bar__minus_8_bar_4_bar_0_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_21_bar__plus_00_dot_61_bar__minus_01_dot_83 loc_bar__minus_2_bar__minus_2_bar_2_bar_45) + (objectAtLocation DeskLamp_bar__plus_02_dot_27_bar__plus_00_dot_57_bar__plus_01_dot_44 loc_bar_5_bar_4_bar_1_bar_60) + (objectAtLocation KeyChain_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_78 loc_bar_1_bar__minus_4_bar_2_bar_60) + (objectAtLocation Pillow_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_00_dot_25 loc_bar_5_bar__minus_5_bar_0_bar_45) + (objectAtLocation Pillow_bar__plus_00_dot_65_bar__plus_00_dot_48_bar__plus_00_dot_42 loc_bar_5_bar__minus_5_bar_0_bar_45) + (objectAtLocation Laptop_bar__minus_00_dot_50_bar__plus_00_dot_97_bar__minus_01_dot_72 loc_bar_1_bar__minus_4_bar_2_bar_60) + (objectAtLocation Poster_bar__plus_02_dot_44_bar__plus_01_dot_51_bar__plus_00_dot_01 loc_bar_8_bar__minus_4_bar_0_bar_15) + (objectAtLocation Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86 loc_bar_1_bar__minus_4_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__minus_02_dot_46_bar__plus_01_dot_27_bar__minus_00_dot_10 loc_bar__minus_8_bar_0_bar_3_bar_45) + (objectAtLocation Cloth_bar__minus_01_dot_29_bar__plus_00_dot_00_bar__minus_01_dot_94 loc_bar__minus_5_bar__minus_7_bar_2_bar_60) + (objectAtLocation Mirror_bar__plus_02_dot_46_bar__plus_01_dot_32_bar__minus_01_dot_42 loc_bar_8_bar__minus_6_bar_1_bar_30) + (objectAtLocation CD_bar__minus_02_dot_21_bar__plus_00_dot_06_bar__minus_01_dot_70 loc_bar__minus_5_bar__minus_4_bar_3_bar_60) + (objectAtLocation Pen_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_85 loc_bar_1_bar__minus_4_bar_2_bar_60) + (objectAtLocation Window_bar__minus_01_dot_44_bar__plus_01_dot_82_bar__minus_02_dot_35 loc_bar__minus_5_bar__minus_7_bar_2_bar__minus_15) + (objectAtLocation Window_bar__plus_01_dot_40_bar__plus_01_dot_82_bar__minus_02_dot_35 loc_bar_6_bar__minus_6_bar_2_bar__minus_15) + (objectAtLocation Blinds_bar__plus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 loc_bar_6_bar__minus_6_bar_2_bar__minus_30) + (objectAtLocation Blinds_bar__minus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 loc_bar__minus_5_bar__minus_7_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 LaptopType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Laptop-None-DeskLamp-317/trial_T20190909_001814_883589/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Laptop-None-DeskLamp-317/trial_T20190909_001814_883589/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..a52f790c2a7722c7a294ed5a4564e1cc53429a4f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Laptop-None-DeskLamp-317/trial_T20190909_001814_883589/traj_data.json @@ -0,0 +1,3407 @@ +{ + "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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computer and pick it up from the dresser.", + "Turn around and hang a right at the wall to reach the nightstand next to the bed.", + "Turn on the small lamp on the nightstand." + ], + "task_desc": "Examine a laptop computer by the light of a small lamp.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3R19ZA45J8915_3B1NLC6UG2NX3DTFF0ZXK65FNJ2GPW", + "high_descs": [ + "Turn to the left, walk up to the bed, then turn right and walk over to the dresser. ", + "Close the laptop that is sitting on the dresser and pick it up. ", + "Turn around completely, walk across the room, then turn right and walk up to the nightstand.", + "Turn on the lamp that is sitting on the nightstand." + ], + "task_desc": "Examine a laptop using the light of a lamp. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1MKCTVKE7J0ZP_3QY7M81QHADDZTLY95QVIC6NU7LK76", + "high_descs": [ + "Turn left and go toward the bed, then turn right and go to the dresser.", + "Pick up the computer on top of the dresser.", + "Turn around and go to the wall, then turn right and go forward to the lamp.", + "Turn on the lamp." + ], + "task_desc": "Examine the computer in the lamp light.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Laptop-None-DeskLamp-317/trial_T20190909_001842_530744/game.tw-pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Laptop-None-DeskLamp-317/trial_T20190909_001842_530744/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..2a32f5718abce1b70b3ad37208e1837b2ab51498 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Laptop-None-DeskLamp-317/trial_T20190909_001842_530744/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 laptop 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_001842_530744)\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_17_bar__plus_00_dot_57_bar__plus_01_dot_22 - object\n Blinds_bar__plus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 - object\n Blinds_bar__minus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 - object\n Book_bar__plus_00_dot_40_bar__plus_00_dot_04_bar__minus_01_dot_71 - object\n Book_bar__plus_01_dot_64_bar__plus_00_dot_42_bar__minus_00_dot_41 - object\n Bowl_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_63 - object\n Bowl_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_85 - object\n Box_bar__minus_01_dot_75_bar__plus_00_dot_25_bar__plus_01_dot_50 - object\n CD_bar__plus_01_dot_70_bar__plus_00_dot_04_bar__minus_02_dot_08 - object\n CellPhone_bar__plus_01_dot_69_bar__plus_00_dot_04_bar__minus_01_dot_87 - object\n CellPhone_bar__plus_02_dot_17_bar__plus_00_dot_47_bar__plus_01_dot_30 - object\n CellPhone_bar__plus_02_dot_31_bar__plus_00_dot_57_bar__plus_01_dot_29 - object\n Cloth_bar__minus_01_dot_15_bar__plus_00_dot_00_bar__minus_02_dot_12 - object\n Cloth_bar__minus_01_dot_29_bar__plus_00_dot_00_bar__minus_01_dot_94 - object\n CreditCard_bar__plus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_63 - object\n DeskLamp_bar__plus_02_dot_27_bar__plus_00_dot_57_bar__plus_01_dot_44 - object\n KeyChain_bar__plus_00_dot_40_bar__plus_00_dot_22_bar__minus_01_dot_82 - object\n Laptop_bar__minus_00_dot_50_bar__plus_00_dot_97_bar__minus_01_dot_72 - object\n LaundryHamperLid_bar__minus_01_dot_61_bar__plus_00_dot_48_bar__minus_02_dot_06 - object\n LightSwitch_bar__minus_02_dot_46_bar__plus_01_dot_27_bar__minus_00_dot_10 - object\n Mirror_bar__plus_02_dot_46_bar__plus_01_dot_32_bar__minus_01_dot_42 - object\n Pencil_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_85 - object\n Pencil_bar__plus_02_dot_25_bar__plus_00_dot_57_bar__plus_01_dot_19 - object\n Pencil_bar__minus_00_dot_39_bar__plus_00_dot_04_bar__minus_01_dot_71 - object\n Pen_bar__plus_00_dot_31_bar__plus_00_dot_22_bar__minus_01_dot_66 - object\n Pen_bar__minus_00_dot_39_bar__plus_00_dot_22_bar__minus_01_dot_77 - object\n Pillow_bar__plus_00_dot_65_bar__plus_00_dot_48_bar__plus_00_dot_25 - object\n Pillow_bar__plus_01_dot_15_bar__plus_00_dot_48_bar__plus_00_dot_25 - object\n Pillow_bar__plus_01_dot_15_bar__plus_00_dot_48_bar__minus_00_dot_25 - object\n Poster_bar__plus_02_dot_44_bar__plus_01_dot_51_bar__plus_00_dot_01 - object\n TeddyBear_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_46 - object\n Window_bar__plus_01_dot_40_bar__plus_01_dot_82_bar__minus_02_dot_35 - object\n Window_bar__minus_01_dot_44_bar__plus_01_dot_82_bar__minus_02_dot_35 - object\n Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07 - receptacle\n Drawer_bar__plus_00_dot_40_bar__plus_00_dot_10_bar__minus_01_dot_63 - receptacle\n Drawer_bar__plus_00_dot_40_bar__plus_00_dot_28_bar__minus_01_dot_63 - receptacle\n Drawer_bar__plus_00_dot_40_bar__plus_00_dot_48_bar__minus_01_dot_63 - receptacle\n Drawer_bar__plus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63 - receptacle\n Drawer_bar__plus_00_dot_40_bar__plus_00_dot_86_bar__minus_01_dot_63 - receptacle\n Drawer_bar__plus_02_dot_21_bar__plus_00_dot_47_bar__plus_01_dot_33 - receptacle\n Drawer_bar__minus_00_dot_39_bar__plus_00_dot_10_bar__minus_01_dot_63 - receptacle\n Drawer_bar__minus_00_dot_39_bar__plus_00_dot_28_bar__minus_01_dot_63 - receptacle\n Drawer_bar__minus_00_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_63 - receptacle\n Drawer_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_01_dot_63 - receptacle\n Drawer_bar__minus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63 - receptacle\n Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80 - receptacle\n GarbageCan_bar__minus_02_dot_21_bar__plus_00_dot_00_bar__minus_01_dot_74 - receptacle\n LaundryHamper_bar__minus_01_dot_61_bar__plus_00_dot_01_bar__minus_02_dot_06 - receptacle\n Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02 - receptacle\n SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51 - receptacle\n loc_bar_8_bar__minus_4_bar_0_bar_15 - location\n loc_bar__minus_8_bar_0_bar_3_bar_45 - location\n loc_bar__minus_1_bar__minus_2_bar_2_bar_30 - location\n loc_bar_5_bar_4_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_1_bar_2_bar_45 - location\n loc_bar_1_bar__minus_4_bar_2_bar_60 - location\n loc_bar_8_bar__minus_4_bar_2_bar_60 - location\n loc_bar_5_bar__minus_5_bar_0_bar_45 - location\n loc_bar_6_bar__minus_6_bar_2_bar__minus_30 - location\n loc_bar__minus_1_bar__minus_1_bar_2_bar_45 - location\n loc_bar__minus_2_bar__minus_2_bar_2_bar_45 - location\n loc_bar__minus_5_bar__minus_7_bar_2_bar__minus_15 - location\n loc_bar__minus_7_bar_4_bar_0_bar_60 - location\n loc_bar_8_bar__minus_6_bar_1_bar_30 - location\n loc_bar__minus_5_bar__minus_7_bar_2_bar__minus_30 - location\n loc_bar__minus_5_bar__minus_7_bar_2_bar_60 - location\n loc_bar_6_bar__minus_6_bar_2_bar__minus_15 - location\n loc_bar__minus_3_bar__minus_2_bar_2_bar_45 - location\n loc_bar_7_bar__minus_6_bar_2_bar_60 - location\n loc_bar_0_bar__minus_2_bar_2_bar_30 - location\n loc_bar_5_bar_5_bar_1_bar_45 - location\n loc_bar__minus_5_bar__minus_7_bar_3_bar_60 - location\n loc_bar__minus_5_bar__minus_4_bar_3_bar_60 - location\n loc_bar_0_bar__minus_2_bar_2_bar_45 - location\n loc_bar_0_bar__minus_1_bar_2_bar_45 - location\n loc_bar__minus_8_bar_4_bar_0_bar_60 - location\n loc_bar__minus_3_bar_5_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02 SafeType)\n (receptacleType Drawer_bar__minus_00_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_63 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_40_bar__plus_00_dot_10_bar__minus_01_dot_63 DrawerType)\n (receptacleType SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51 SideTableType)\n (receptacleType GarbageCan_bar__minus_02_dot_21_bar__plus_00_dot_00_bar__minus_01_dot_74 GarbageCanType)\n (receptacleType Drawer_bar__plus_02_dot_21_bar__plus_00_dot_47_bar__plus_01_dot_33 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_40_bar__plus_00_dot_86_bar__minus_01_dot_63 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_40_bar__plus_00_dot_48_bar__minus_01_dot_63 DrawerType)\n (receptacleType LaundryHamper_bar__minus_01_dot_61_bar__plus_00_dot_01_bar__minus_02_dot_06 LaundryHamperType)\n (receptacleType Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80 DresserType)\n (receptacleType Drawer_bar__minus_00_dot_39_bar__plus_00_dot_10_bar__minus_01_dot_63 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_39_bar__plus_00_dot_28_bar__minus_01_dot_63 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_40_bar__plus_00_dot_28_bar__minus_01_dot_63 DrawerType)\n (receptacleType Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07 BedType)\n (receptacleType Drawer_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_01_dot_63 DrawerType)\n (objectType Cloth_bar__minus_01_dot_15_bar__plus_00_dot_00_bar__minus_02_dot_12 ClothType)\n (objectType LightSwitch_bar__minus_02_dot_46_bar__plus_01_dot_27_bar__minus_00_dot_10 LightSwitchType)\n (objectType Bowl_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_63 BowlType)\n (objectType Pencil_bar__minus_00_dot_39_bar__plus_00_dot_04_bar__minus_01_dot_71 PencilType)\n (objectType CreditCard_bar__plus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_63 CreditCardType)\n (objectType Book_bar__plus_01_dot_64_bar__plus_00_dot_42_bar__minus_00_dot_41 BookType)\n (objectType Book_bar__plus_00_dot_40_bar__plus_00_dot_04_bar__minus_01_dot_71 BookType)\n (objectType Window_bar__minus_01_dot_44_bar__plus_01_dot_82_bar__minus_02_dot_35 WindowType)\n (objectType Cloth_bar__minus_01_dot_29_bar__plus_00_dot_00_bar__minus_01_dot_94 ClothType)\n (objectType Mirror_bar__plus_02_dot_46_bar__plus_01_dot_32_bar__minus_01_dot_42 MirrorType)\n (objectType Box_bar__minus_01_dot_75_bar__plus_00_dot_25_bar__plus_01_dot_50 BoxType)\n (objectType Laptop_bar__minus_00_dot_50_bar__plus_00_dot_97_bar__minus_01_dot_72 LaptopType)\n (objectType Window_bar__plus_01_dot_40_bar__plus_01_dot_82_bar__minus_02_dot_35 WindowType)\n (objectType Pillow_bar__plus_00_dot_65_bar__plus_00_dot_48_bar__plus_00_dot_25 PillowType)\n (objectType Pillow_bar__plus_01_dot_15_bar__plus_00_dot_48_bar__minus_00_dot_25 PillowType)\n (objectType Pillow_bar__plus_01_dot_15_bar__plus_00_dot_48_bar__plus_00_dot_25 PillowType)\n (objectType Blinds_bar__plus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 BlindsType)\n (objectType CD_bar__plus_01_dot_70_bar__plus_00_dot_04_bar__minus_02_dot_08 CDType)\n (objectType AlarmClock_bar__plus_02_dot_17_bar__plus_00_dot_57_bar__plus_01_dot_22 AlarmClockType)\n (objectType TeddyBear_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_46 TeddyBearType)\n (objectType CellPhone_bar__plus_02_dot_31_bar__plus_00_dot_57_bar__plus_01_dot_29 CellPhoneType)\n (objectType CellPhone_bar__plus_02_dot_17_bar__plus_00_dot_47_bar__plus_01_dot_30 CellPhoneType)\n (objectType Bowl_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_85 BowlType)\n (objectType KeyChain_bar__plus_00_dot_40_bar__plus_00_dot_22_bar__minus_01_dot_82 KeyChainType)\n (objectType Blinds_bar__minus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 BlindsType)\n (objectType LaundryHamperLid_bar__minus_01_dot_61_bar__plus_00_dot_48_bar__minus_02_dot_06 LaundryHamperLidType)\n (objectType DeskLamp_bar__plus_02_dot_27_bar__plus_00_dot_57_bar__plus_01_dot_44 DeskLampType)\n (objectType CellPhone_bar__plus_01_dot_69_bar__plus_00_dot_04_bar__minus_01_dot_87 CellPhoneType)\n (objectType Pencil_bar__plus_02_dot_25_bar__plus_00_dot_57_bar__plus_01_dot_19 PencilType)\n (objectType Pen_bar__plus_00_dot_31_bar__plus_00_dot_22_bar__minus_01_dot_66 PenType)\n (objectType Poster_bar__plus_02_dot_44_bar__plus_01_dot_51_bar__plus_00_dot_01 PosterType)\n (objectType Pencil_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_85 PencilType)\n (objectType Pen_bar__minus_00_dot_39_bar__plus_00_dot_22_bar__minus_01_dot_77 PenType)\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 ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType BowlType)\n (canContain SideTableType CDType)\n (canContain SideTableType BoxType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType ClothType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType AlarmClockType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType ClothType)\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 ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain LaundryHamperType ClothType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType BowlType)\n (canContain DresserType CDType)\n (canContain DresserType BoxType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType ClothType)\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 ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain 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 ClothType)\n (canContain DrawerType PencilType)\n (pickupable Cloth_bar__minus_01_dot_15_bar__plus_00_dot_00_bar__minus_02_dot_12)\n (pickupable Bowl_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_63)\n (pickupable Pencil_bar__minus_00_dot_39_bar__plus_00_dot_04_bar__minus_01_dot_71)\n (pickupable CreditCard_bar__plus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_63)\n (pickupable Book_bar__plus_01_dot_64_bar__plus_00_dot_42_bar__minus_00_dot_41)\n (pickupable Book_bar__plus_00_dot_40_bar__plus_00_dot_04_bar__minus_01_dot_71)\n (pickupable Cloth_bar__minus_01_dot_29_bar__plus_00_dot_00_bar__minus_01_dot_94)\n (pickupable Box_bar__minus_01_dot_75_bar__plus_00_dot_25_bar__plus_01_dot_50)\n (pickupable Laptop_bar__minus_00_dot_50_bar__plus_00_dot_97_bar__minus_01_dot_72)\n (pickupable Pillow_bar__plus_00_dot_65_bar__plus_00_dot_48_bar__plus_00_dot_25)\n (pickupable Pillow_bar__plus_01_dot_15_bar__plus_00_dot_48_bar__minus_00_dot_25)\n (pickupable Pillow_bar__plus_01_dot_15_bar__plus_00_dot_48_bar__plus_00_dot_25)\n (pickupable CD_bar__plus_01_dot_70_bar__plus_00_dot_04_bar__minus_02_dot_08)\n (pickupable AlarmClock_bar__plus_02_dot_17_bar__plus_00_dot_57_bar__plus_01_dot_22)\n (pickupable TeddyBear_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_46)\n (pickupable CellPhone_bar__plus_02_dot_31_bar__plus_00_dot_57_bar__plus_01_dot_29)\n (pickupable CellPhone_bar__plus_02_dot_17_bar__plus_00_dot_47_bar__plus_01_dot_30)\n (pickupable Bowl_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_85)\n (pickupable KeyChain_bar__plus_00_dot_40_bar__plus_00_dot_22_bar__minus_01_dot_82)\n (pickupable CellPhone_bar__plus_01_dot_69_bar__plus_00_dot_04_bar__minus_01_dot_87)\n (pickupable Pencil_bar__plus_02_dot_25_bar__plus_00_dot_57_bar__plus_01_dot_19)\n (pickupable Pen_bar__plus_00_dot_31_bar__plus_00_dot_22_bar__minus_01_dot_66)\n (pickupable Pencil_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_85)\n (pickupable Pen_bar__minus_00_dot_39_bar__plus_00_dot_22_bar__minus_01_dot_77)\n (isReceptacleObject Bowl_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_63)\n (isReceptacleObject Box_bar__minus_01_dot_75_bar__plus_00_dot_25_bar__plus_01_dot_50)\n (isReceptacleObject Bowl_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_85)\n (openable Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02)\n (openable Drawer_bar__minus_00_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_63)\n (openable Drawer_bar__plus_00_dot_40_bar__plus_00_dot_10_bar__minus_01_dot_63)\n (openable Drawer_bar__plus_02_dot_21_bar__plus_00_dot_47_bar__plus_01_dot_33)\n (openable Drawer_bar__plus_00_dot_40_bar__plus_00_dot_86_bar__minus_01_dot_63)\n (openable Drawer_bar__plus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63)\n (openable Drawer_bar__plus_00_dot_40_bar__plus_00_dot_48_bar__minus_01_dot_63)\n (openable Drawer_bar__minus_00_dot_39_bar__plus_00_dot_10_bar__minus_01_dot_63)\n (openable Drawer_bar__minus_00_dot_39_bar__plus_00_dot_28_bar__minus_01_dot_63)\n (openable Drawer_bar__minus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63)\n (openable Drawer_bar__plus_00_dot_40_bar__plus_00_dot_28_bar__minus_01_dot_63)\n (openable Drawer_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_01_dot_63)\n \n (atLocation agent1 loc_bar__minus_3_bar_5_bar_3_bar_30)\n \n (cleanable Cloth_bar__minus_01_dot_15_bar__plus_00_dot_00_bar__minus_02_dot_12)\n (cleanable Bowl_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_63)\n (cleanable Cloth_bar__minus_01_dot_29_bar__plus_00_dot_00_bar__minus_01_dot_94)\n (cleanable Bowl_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_85)\n \n \n (coolable Bowl_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_63)\n (coolable Bowl_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_85)\n \n \n (toggleable DeskLamp_bar__plus_02_dot_27_bar__plus_00_dot_57_bar__plus_01_dot_44)\n \n \n \n \n (inReceptacle Pencil_bar__minus_00_dot_39_bar__plus_00_dot_04_bar__minus_01_dot_71 Drawer_bar__minus_00_dot_39_bar__plus_00_dot_10_bar__minus_01_dot_63)\n (inReceptacle KeyChain_bar__plus_00_dot_40_bar__plus_00_dot_22_bar__minus_01_dot_82 Drawer_bar__plus_00_dot_40_bar__plus_00_dot_28_bar__minus_01_dot_63)\n (inReceptacle Pen_bar__plus_00_dot_31_bar__plus_00_dot_22_bar__minus_01_dot_66 Drawer_bar__plus_00_dot_40_bar__plus_00_dot_28_bar__minus_01_dot_63)\n (inReceptacle Book_bar__plus_00_dot_40_bar__plus_00_dot_04_bar__minus_01_dot_71 Drawer_bar__plus_00_dot_40_bar__plus_00_dot_10_bar__minus_01_dot_63)\n (inReceptacle CellPhone_bar__plus_02_dot_17_bar__plus_00_dot_47_bar__plus_01_dot_30 Drawer_bar__plus_02_dot_21_bar__plus_00_dot_47_bar__plus_01_dot_33)\n (inReceptacle DeskLamp_bar__plus_02_dot_27_bar__plus_00_dot_57_bar__plus_01_dot_44 SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51)\n (inReceptacle Pencil_bar__plus_02_dot_25_bar__plus_00_dot_57_bar__plus_01_dot_19 SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51)\n (inReceptacle CellPhone_bar__plus_02_dot_31_bar__plus_00_dot_57_bar__plus_01_dot_29 SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51)\n (inReceptacle AlarmClock_bar__plus_02_dot_17_bar__plus_00_dot_57_bar__plus_01_dot_22 SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51)\n (inReceptacle Bowl_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_63 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80)\n (inReceptacle Laptop_bar__minus_00_dot_50_bar__plus_00_dot_97_bar__minus_01_dot_72 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80)\n (inReceptacle CreditCard_bar__plus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_63 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80)\n (inReceptacle Pencil_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_85 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80)\n (inReceptacle Bowl_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_85 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80)\n (inReceptacle Pen_bar__minus_00_dot_39_bar__plus_00_dot_22_bar__minus_01_dot_77 Drawer_bar__minus_00_dot_39_bar__plus_00_dot_28_bar__minus_01_dot_63)\n (inReceptacle CellPhone_bar__plus_01_dot_69_bar__plus_00_dot_04_bar__minus_01_dot_87 Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02)\n (inReceptacle Pillow_bar__plus_01_dot_15_bar__plus_00_dot_48_bar__plus_00_dot_25 Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07)\n (inReceptacle Pillow_bar__plus_00_dot_65_bar__plus_00_dot_48_bar__plus_00_dot_25 Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07)\n (inReceptacle Pillow_bar__plus_01_dot_15_bar__plus_00_dot_48_bar__minus_00_dot_25 Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07)\n (inReceptacle Book_bar__plus_01_dot_64_bar__plus_00_dot_42_bar__minus_00_dot_41 Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07)\n \n \n (receptacleAtLocation Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07 loc_bar_5_bar__minus_5_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_40_bar__plus_00_dot_10_bar__minus_01_dot_63 loc_bar__minus_1_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_40_bar__plus_00_dot_28_bar__minus_01_dot_63 loc_bar_0_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_40_bar__plus_00_dot_48_bar__minus_01_dot_63 loc_bar_0_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63 loc_bar_0_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_40_bar__plus_00_dot_86_bar__minus_01_dot_63 loc_bar_0_bar__minus_2_bar_2_bar_30)\n (receptacleAtLocation Drawer_bar__plus_02_dot_21_bar__plus_00_dot_47_bar__plus_01_dot_33 loc_bar_5_bar_5_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_39_bar__plus_00_dot_10_bar__minus_01_dot_63 loc_bar__minus_4_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_39_bar__plus_00_dot_28_bar__minus_01_dot_63 loc_bar__minus_1_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_63 loc_bar__minus_3_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_01_dot_63 loc_bar__minus_1_bar__minus_2_bar_2_bar_30)\n (receptacleAtLocation Drawer_bar__minus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63 loc_bar__minus_2_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_02_dot_21_bar__plus_00_dot_00_bar__minus_01_dot_74 loc_bar__minus_5_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation LaundryHamper_bar__minus_01_dot_61_bar__plus_00_dot_01_bar__minus_02_dot_06 loc_bar__minus_5_bar__minus_7_bar_3_bar_60)\n (receptacleAtLocation Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02 loc_bar_8_bar__minus_4_bar_2_bar_60)\n (receptacleAtLocation SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51 loc_bar_5_bar_4_bar_1_bar_60)\n (objectAtLocation Pen_bar__plus_00_dot_31_bar__plus_00_dot_22_bar__minus_01_dot_66 loc_bar_0_bar__minus_1_bar_2_bar_45)\n (objectAtLocation Bowl_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_63 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Pillow_bar__plus_00_dot_65_bar__plus_00_dot_48_bar__plus_00_dot_25 loc_bar_5_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Pencil_bar__minus_00_dot_39_bar__plus_00_dot_04_bar__minus_01_dot_71 loc_bar__minus_4_bar__minus_1_bar_2_bar_45)\n (objectAtLocation CellPhone_bar__plus_02_dot_31_bar__plus_00_dot_57_bar__plus_01_dot_29 loc_bar_5_bar_4_bar_1_bar_60)\n (objectAtLocation Book_bar__plus_01_dot_64_bar__plus_00_dot_42_bar__minus_00_dot_41 loc_bar_5_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Pencil_bar__plus_02_dot_25_bar__plus_00_dot_57_bar__plus_01_dot_19 loc_bar_5_bar_4_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__plus_02_dot_17_bar__plus_00_dot_47_bar__plus_01_dot_30 loc_bar_5_bar_5_bar_1_bar_45)\n (objectAtLocation Box_bar__minus_01_dot_75_bar__plus_00_dot_25_bar__plus_01_dot_50 loc_bar__minus_7_bar_4_bar_0_bar_60)\n (objectAtLocation Book_bar__plus_00_dot_40_bar__plus_00_dot_04_bar__minus_01_dot_71 loc_bar__minus_1_bar__minus_1_bar_2_bar_45)\n (objectAtLocation LaundryHamperLid_bar__minus_01_dot_61_bar__plus_00_dot_48_bar__minus_02_dot_06 loc_bar__minus_5_bar__minus_7_bar_3_bar_60)\n (objectAtLocation Cloth_bar__minus_01_dot_15_bar__plus_00_dot_00_bar__minus_02_dot_12 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__plus_01_dot_69_bar__plus_00_dot_04_bar__minus_01_dot_87 loc_bar_8_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Pencil_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_85 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation AlarmClock_bar__plus_02_dot_17_bar__plus_00_dot_57_bar__plus_01_dot_22 loc_bar_5_bar_4_bar_1_bar_60)\n (objectAtLocation TeddyBear_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_46 loc_bar__minus_8_bar_4_bar_0_bar_60)\n (objectAtLocation CreditCard_bar__plus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_63 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation DeskLamp_bar__plus_02_dot_27_bar__plus_00_dot_57_bar__plus_01_dot_44 loc_bar_5_bar_4_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__plus_00_dot_40_bar__plus_00_dot_22_bar__minus_01_dot_82 loc_bar_0_bar__minus_1_bar_2_bar_45)\n (objectAtLocation Pillow_bar__plus_01_dot_15_bar__plus_00_dot_48_bar__minus_00_dot_25 loc_bar_5_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Pillow_bar__plus_01_dot_15_bar__plus_00_dot_48_bar__plus_00_dot_25 loc_bar_5_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Laptop_bar__minus_00_dot_50_bar__plus_00_dot_97_bar__minus_01_dot_72 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Poster_bar__plus_02_dot_44_bar__plus_01_dot_51_bar__plus_00_dot_01 loc_bar_8_bar__minus_4_bar_0_bar_15)\n (objectAtLocation Bowl_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_85 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation LightSwitch_bar__minus_02_dot_46_bar__plus_01_dot_27_bar__minus_00_dot_10 loc_bar__minus_8_bar_0_bar_3_bar_45)\n (objectAtLocation Cloth_bar__minus_01_dot_29_bar__plus_00_dot_00_bar__minus_01_dot_94 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Mirror_bar__plus_02_dot_46_bar__plus_01_dot_32_bar__minus_01_dot_42 loc_bar_8_bar__minus_6_bar_1_bar_30)\n (objectAtLocation CD_bar__plus_01_dot_70_bar__plus_00_dot_04_bar__minus_02_dot_08 loc_bar_7_bar__minus_6_bar_2_bar_60)\n (objectAtLocation Pen_bar__minus_00_dot_39_bar__plus_00_dot_22_bar__minus_01_dot_77 loc_bar__minus_1_bar__minus_1_bar_2_bar_45)\n (objectAtLocation Window_bar__minus_01_dot_44_bar__plus_01_dot_82_bar__minus_02_dot_35 loc_bar__minus_5_bar__minus_7_bar_2_bar__minus_15)\n (objectAtLocation Window_bar__plus_01_dot_40_bar__plus_01_dot_82_bar__minus_02_dot_35 loc_bar_6_bar__minus_6_bar_2_bar__minus_15)\n (objectAtLocation Blinds_bar__plus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 loc_bar_6_bar__minus_6_bar_2_bar__minus_30)\n (objectAtLocation Blinds_bar__minus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 loc_bar__minus_5_bar__minus_7_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 LaptopType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to dresser 1", "take laptop 1 from dresser 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-Laptop-None-DeskLamp-317/trial_T20190909_001842_530744/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Laptop-None-DeskLamp-317/trial_T20190909_001842_530744/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..365f70436b888178fb185bdadb0d0a3d8a33a38e --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Laptop-None-DeskLamp-317/trial_T20190909_001842_530744/initial_state.pddl @@ -0,0 +1,611 @@ + +(define (problem plan_trial_T20190909_001842_530744) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_17_bar__plus_00_dot_57_bar__plus_01_dot_22 - object + Blinds_bar__plus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 - object + Blinds_bar__minus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 - object + Book_bar__plus_00_dot_40_bar__plus_00_dot_04_bar__minus_01_dot_71 - object + Book_bar__plus_01_dot_64_bar__plus_00_dot_42_bar__minus_00_dot_41 - object + Bowl_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_63 - object + Bowl_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_85 - object + Box_bar__minus_01_dot_75_bar__plus_00_dot_25_bar__plus_01_dot_50 - object + CD_bar__plus_01_dot_70_bar__plus_00_dot_04_bar__minus_02_dot_08 - object + CellPhone_bar__plus_01_dot_69_bar__plus_00_dot_04_bar__minus_01_dot_87 - object + CellPhone_bar__plus_02_dot_17_bar__plus_00_dot_47_bar__plus_01_dot_30 - object + CellPhone_bar__plus_02_dot_31_bar__plus_00_dot_57_bar__plus_01_dot_29 - object + Cloth_bar__minus_01_dot_15_bar__plus_00_dot_00_bar__minus_02_dot_12 - object + Cloth_bar__minus_01_dot_29_bar__plus_00_dot_00_bar__minus_01_dot_94 - object + CreditCard_bar__plus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_63 - object + DeskLamp_bar__plus_02_dot_27_bar__plus_00_dot_57_bar__plus_01_dot_44 - object + KeyChain_bar__plus_00_dot_40_bar__plus_00_dot_22_bar__minus_01_dot_82 - object + Laptop_bar__minus_00_dot_50_bar__plus_00_dot_97_bar__minus_01_dot_72 - object + LaundryHamperLid_bar__minus_01_dot_61_bar__plus_00_dot_48_bar__minus_02_dot_06 - object + LightSwitch_bar__minus_02_dot_46_bar__plus_01_dot_27_bar__minus_00_dot_10 - object + Mirror_bar__plus_02_dot_46_bar__plus_01_dot_32_bar__minus_01_dot_42 - object + Pencil_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_85 - object + Pencil_bar__plus_02_dot_25_bar__plus_00_dot_57_bar__plus_01_dot_19 - object + Pencil_bar__minus_00_dot_39_bar__plus_00_dot_04_bar__minus_01_dot_71 - object + Pen_bar__plus_00_dot_31_bar__plus_00_dot_22_bar__minus_01_dot_66 - object + Pen_bar__minus_00_dot_39_bar__plus_00_dot_22_bar__minus_01_dot_77 - object + Pillow_bar__plus_00_dot_65_bar__plus_00_dot_48_bar__plus_00_dot_25 - object + Pillow_bar__plus_01_dot_15_bar__plus_00_dot_48_bar__plus_00_dot_25 - object + Pillow_bar__plus_01_dot_15_bar__plus_00_dot_48_bar__minus_00_dot_25 - object + Poster_bar__plus_02_dot_44_bar__plus_01_dot_51_bar__plus_00_dot_01 - object + TeddyBear_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_46 - object + Window_bar__plus_01_dot_40_bar__plus_01_dot_82_bar__minus_02_dot_35 - object + Window_bar__minus_01_dot_44_bar__plus_01_dot_82_bar__minus_02_dot_35 - object + Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07 - receptacle + Drawer_bar__plus_00_dot_40_bar__plus_00_dot_10_bar__minus_01_dot_63 - receptacle + Drawer_bar__plus_00_dot_40_bar__plus_00_dot_28_bar__minus_01_dot_63 - receptacle + Drawer_bar__plus_00_dot_40_bar__plus_00_dot_48_bar__minus_01_dot_63 - receptacle + Drawer_bar__plus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63 - receptacle + Drawer_bar__plus_00_dot_40_bar__plus_00_dot_86_bar__minus_01_dot_63 - receptacle + Drawer_bar__plus_02_dot_21_bar__plus_00_dot_47_bar__plus_01_dot_33 - receptacle + Drawer_bar__minus_00_dot_39_bar__plus_00_dot_10_bar__minus_01_dot_63 - receptacle + Drawer_bar__minus_00_dot_39_bar__plus_00_dot_28_bar__minus_01_dot_63 - receptacle + Drawer_bar__minus_00_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_63 - receptacle + Drawer_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_01_dot_63 - receptacle + Drawer_bar__minus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63 - receptacle + Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80 - receptacle + GarbageCan_bar__minus_02_dot_21_bar__plus_00_dot_00_bar__minus_01_dot_74 - receptacle + LaundryHamper_bar__minus_01_dot_61_bar__plus_00_dot_01_bar__minus_02_dot_06 - receptacle + Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02 - receptacle + SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51 - receptacle + loc_bar_8_bar__minus_4_bar_0_bar_15 - location + loc_bar__minus_8_bar_0_bar_3_bar_45 - location + loc_bar__minus_1_bar__minus_2_bar_2_bar_30 - location + loc_bar_5_bar_4_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_1_bar_2_bar_45 - location + loc_bar_1_bar__minus_4_bar_2_bar_60 - location + loc_bar_8_bar__minus_4_bar_2_bar_60 - location + loc_bar_5_bar__minus_5_bar_0_bar_45 - location + loc_bar_6_bar__minus_6_bar_2_bar__minus_30 - location + loc_bar__minus_1_bar__minus_1_bar_2_bar_45 - location + loc_bar__minus_2_bar__minus_2_bar_2_bar_45 - location + loc_bar__minus_5_bar__minus_7_bar_2_bar__minus_15 - location + loc_bar__minus_7_bar_4_bar_0_bar_60 - location + loc_bar_8_bar__minus_6_bar_1_bar_30 - location + loc_bar__minus_5_bar__minus_7_bar_2_bar__minus_30 - location + loc_bar__minus_5_bar__minus_7_bar_2_bar_60 - location + loc_bar_6_bar__minus_6_bar_2_bar__minus_15 - location + loc_bar__minus_3_bar__minus_2_bar_2_bar_45 - location + loc_bar_7_bar__minus_6_bar_2_bar_60 - location + loc_bar_0_bar__minus_2_bar_2_bar_30 - location + loc_bar_5_bar_5_bar_1_bar_45 - location + loc_bar__minus_5_bar__minus_7_bar_3_bar_60 - location + loc_bar__minus_5_bar__minus_4_bar_3_bar_60 - 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__minus_8_bar_4_bar_0_bar_60 - location + loc_bar__minus_3_bar_5_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02 SafeType) + (receptacleType Drawer_bar__minus_00_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_63 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_40_bar__plus_00_dot_10_bar__minus_01_dot_63 DrawerType) + (receptacleType SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51 SideTableType) + (receptacleType GarbageCan_bar__minus_02_dot_21_bar__plus_00_dot_00_bar__minus_01_dot_74 GarbageCanType) + (receptacleType Drawer_bar__plus_02_dot_21_bar__plus_00_dot_47_bar__plus_01_dot_33 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_40_bar__plus_00_dot_86_bar__minus_01_dot_63 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_40_bar__plus_00_dot_48_bar__minus_01_dot_63 DrawerType) + (receptacleType LaundryHamper_bar__minus_01_dot_61_bar__plus_00_dot_01_bar__minus_02_dot_06 LaundryHamperType) + (receptacleType Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80 DresserType) + (receptacleType Drawer_bar__minus_00_dot_39_bar__plus_00_dot_10_bar__minus_01_dot_63 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_39_bar__plus_00_dot_28_bar__minus_01_dot_63 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_40_bar__plus_00_dot_28_bar__minus_01_dot_63 DrawerType) + (receptacleType Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07 BedType) + (receptacleType Drawer_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_01_dot_63 DrawerType) + (objectType Cloth_bar__minus_01_dot_15_bar__plus_00_dot_00_bar__minus_02_dot_12 ClothType) + (objectType LightSwitch_bar__minus_02_dot_46_bar__plus_01_dot_27_bar__minus_00_dot_10 LightSwitchType) + (objectType Bowl_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_63 BowlType) + (objectType Pencil_bar__minus_00_dot_39_bar__plus_00_dot_04_bar__minus_01_dot_71 PencilType) + (objectType CreditCard_bar__plus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_63 CreditCardType) + (objectType Book_bar__plus_01_dot_64_bar__plus_00_dot_42_bar__minus_00_dot_41 BookType) + (objectType Book_bar__plus_00_dot_40_bar__plus_00_dot_04_bar__minus_01_dot_71 BookType) + (objectType Window_bar__minus_01_dot_44_bar__plus_01_dot_82_bar__minus_02_dot_35 WindowType) + (objectType Cloth_bar__minus_01_dot_29_bar__plus_00_dot_00_bar__minus_01_dot_94 ClothType) + (objectType Mirror_bar__plus_02_dot_46_bar__plus_01_dot_32_bar__minus_01_dot_42 MirrorType) + (objectType Box_bar__minus_01_dot_75_bar__plus_00_dot_25_bar__plus_01_dot_50 BoxType) + (objectType Laptop_bar__minus_00_dot_50_bar__plus_00_dot_97_bar__minus_01_dot_72 LaptopType) + (objectType Window_bar__plus_01_dot_40_bar__plus_01_dot_82_bar__minus_02_dot_35 WindowType) + (objectType Pillow_bar__plus_00_dot_65_bar__plus_00_dot_48_bar__plus_00_dot_25 PillowType) + (objectType Pillow_bar__plus_01_dot_15_bar__plus_00_dot_48_bar__minus_00_dot_25 PillowType) + (objectType Pillow_bar__plus_01_dot_15_bar__plus_00_dot_48_bar__plus_00_dot_25 PillowType) + (objectType Blinds_bar__plus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 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(objectType CellPhone_bar__plus_01_dot_69_bar__plus_00_dot_04_bar__minus_01_dot_87 CellPhoneType) + (objectType Pencil_bar__plus_02_dot_25_bar__plus_00_dot_57_bar__plus_01_dot_19 PencilType) + (objectType Pen_bar__plus_00_dot_31_bar__plus_00_dot_22_bar__minus_01_dot_66 PenType) + (objectType Poster_bar__plus_02_dot_44_bar__plus_01_dot_51_bar__plus_00_dot_01 PosterType) + (objectType Pencil_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_85 PencilType) + (objectType Pen_bar__minus_00_dot_39_bar__plus_00_dot_22_bar__minus_01_dot_77 PenType) + (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 ClothType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType ClothType) + (canContain DrawerType PencilType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType BowlType) + (canContain SideTableType CDType) + (canContain SideTableType BoxType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType ClothType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType AlarmClockType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + 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(canContain DrawerType CreditCardType) + (canContain DrawerType ClothType) + (canContain DrawerType PencilType) + (canContain LaundryHamperType ClothType) + (canContain DresserType PenType) + (canContain DresserType BookType) + (canContain DresserType BowlType) + (canContain DresserType CDType) + (canContain DresserType BoxType) + (canContain DresserType CellPhoneType) + (canContain DresserType KeyChainType) + (canContain DresserType CreditCardType) + (canContain DresserType ClothType) + (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 ClothType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType 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(canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType ClothType) + (canContain DrawerType PencilType) + (pickupable Cloth_bar__minus_01_dot_15_bar__plus_00_dot_00_bar__minus_02_dot_12) + (pickupable Bowl_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_63) + (pickupable Pencil_bar__minus_00_dot_39_bar__plus_00_dot_04_bar__minus_01_dot_71) + (pickupable CreditCard_bar__plus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_63) + (pickupable Book_bar__plus_01_dot_64_bar__plus_00_dot_42_bar__minus_00_dot_41) + (pickupable Book_bar__plus_00_dot_40_bar__plus_00_dot_04_bar__minus_01_dot_71) + (pickupable Cloth_bar__minus_01_dot_29_bar__plus_00_dot_00_bar__minus_01_dot_94) + (pickupable Box_bar__minus_01_dot_75_bar__plus_00_dot_25_bar__plus_01_dot_50) + (pickupable Laptop_bar__minus_00_dot_50_bar__plus_00_dot_97_bar__minus_01_dot_72) + (pickupable Pillow_bar__plus_00_dot_65_bar__plus_00_dot_48_bar__plus_00_dot_25) + (pickupable Pillow_bar__plus_01_dot_15_bar__plus_00_dot_48_bar__minus_00_dot_25) + (pickupable Pillow_bar__plus_01_dot_15_bar__plus_00_dot_48_bar__plus_00_dot_25) + (pickupable CD_bar__plus_01_dot_70_bar__plus_00_dot_04_bar__minus_02_dot_08) + (pickupable AlarmClock_bar__plus_02_dot_17_bar__plus_00_dot_57_bar__plus_01_dot_22) + (pickupable TeddyBear_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_46) + (pickupable CellPhone_bar__plus_02_dot_31_bar__plus_00_dot_57_bar__plus_01_dot_29) + (pickupable CellPhone_bar__plus_02_dot_17_bar__plus_00_dot_47_bar__plus_01_dot_30) + (pickupable Bowl_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_85) + (pickupable KeyChain_bar__plus_00_dot_40_bar__plus_00_dot_22_bar__minus_01_dot_82) + (pickupable CellPhone_bar__plus_01_dot_69_bar__plus_00_dot_04_bar__minus_01_dot_87) + (pickupable Pencil_bar__plus_02_dot_25_bar__plus_00_dot_57_bar__plus_01_dot_19) + (pickupable Pen_bar__plus_00_dot_31_bar__plus_00_dot_22_bar__minus_01_dot_66) + (pickupable Pencil_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_85) + (pickupable Pen_bar__minus_00_dot_39_bar__plus_00_dot_22_bar__minus_01_dot_77) + (isReceptacleObject Bowl_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_63) + (isReceptacleObject Box_bar__minus_01_dot_75_bar__plus_00_dot_25_bar__plus_01_dot_50) + (isReceptacleObject Bowl_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_85) + (openable Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02) + (openable Drawer_bar__minus_00_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_63) + (openable Drawer_bar__plus_00_dot_40_bar__plus_00_dot_10_bar__minus_01_dot_63) + (openable Drawer_bar__plus_02_dot_21_bar__plus_00_dot_47_bar__plus_01_dot_33) + (openable Drawer_bar__plus_00_dot_40_bar__plus_00_dot_86_bar__minus_01_dot_63) + (openable Drawer_bar__plus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63) + (openable Drawer_bar__plus_00_dot_40_bar__plus_00_dot_48_bar__minus_01_dot_63) + (openable Drawer_bar__minus_00_dot_39_bar__plus_00_dot_10_bar__minus_01_dot_63) + (openable Drawer_bar__minus_00_dot_39_bar__plus_00_dot_28_bar__minus_01_dot_63) + (openable Drawer_bar__minus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63) + (openable Drawer_bar__plus_00_dot_40_bar__plus_00_dot_28_bar__minus_01_dot_63) + (openable Drawer_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_01_dot_63) + + (atLocation agent1 loc_bar__minus_3_bar_5_bar_3_bar_30) + + (cleanable Cloth_bar__minus_01_dot_15_bar__plus_00_dot_00_bar__minus_02_dot_12) + (cleanable Bowl_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_63) + (cleanable Cloth_bar__minus_01_dot_29_bar__plus_00_dot_00_bar__minus_01_dot_94) + (cleanable Bowl_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_85) + + + (coolable Bowl_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_63) + (coolable Bowl_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_85) + + + (toggleable DeskLamp_bar__plus_02_dot_27_bar__plus_00_dot_57_bar__plus_01_dot_44) + + + + + (inReceptacle Pencil_bar__minus_00_dot_39_bar__plus_00_dot_04_bar__minus_01_dot_71 Drawer_bar__minus_00_dot_39_bar__plus_00_dot_10_bar__minus_01_dot_63) + (inReceptacle KeyChain_bar__plus_00_dot_40_bar__plus_00_dot_22_bar__minus_01_dot_82 Drawer_bar__plus_00_dot_40_bar__plus_00_dot_28_bar__minus_01_dot_63) + (inReceptacle Pen_bar__plus_00_dot_31_bar__plus_00_dot_22_bar__minus_01_dot_66 Drawer_bar__plus_00_dot_40_bar__plus_00_dot_28_bar__minus_01_dot_63) + (inReceptacle Book_bar__plus_00_dot_40_bar__plus_00_dot_04_bar__minus_01_dot_71 Drawer_bar__plus_00_dot_40_bar__plus_00_dot_10_bar__minus_01_dot_63) + (inReceptacle CellPhone_bar__plus_02_dot_17_bar__plus_00_dot_47_bar__plus_01_dot_30 Drawer_bar__plus_02_dot_21_bar__plus_00_dot_47_bar__plus_01_dot_33) + (inReceptacle DeskLamp_bar__plus_02_dot_27_bar__plus_00_dot_57_bar__plus_01_dot_44 SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51) + (inReceptacle Pencil_bar__plus_02_dot_25_bar__plus_00_dot_57_bar__plus_01_dot_19 SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51) + (inReceptacle CellPhone_bar__plus_02_dot_31_bar__plus_00_dot_57_bar__plus_01_dot_29 SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51) + (inReceptacle AlarmClock_bar__plus_02_dot_17_bar__plus_00_dot_57_bar__plus_01_dot_22 SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51) + (inReceptacle Bowl_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_63 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80) + (inReceptacle Laptop_bar__minus_00_dot_50_bar__plus_00_dot_97_bar__minus_01_dot_72 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80) + (inReceptacle CreditCard_bar__plus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_63 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80) + (inReceptacle Pencil_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_85 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80) + (inReceptacle Bowl_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_85 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80) + (inReceptacle Pen_bar__minus_00_dot_39_bar__plus_00_dot_22_bar__minus_01_dot_77 Drawer_bar__minus_00_dot_39_bar__plus_00_dot_28_bar__minus_01_dot_63) + (inReceptacle CellPhone_bar__plus_01_dot_69_bar__plus_00_dot_04_bar__minus_01_dot_87 Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02) + (inReceptacle Pillow_bar__plus_01_dot_15_bar__plus_00_dot_48_bar__plus_00_dot_25 Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07) + (inReceptacle Pillow_bar__plus_00_dot_65_bar__plus_00_dot_48_bar__plus_00_dot_25 Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07) + (inReceptacle Pillow_bar__plus_01_dot_15_bar__plus_00_dot_48_bar__minus_00_dot_25 Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07) + (inReceptacle Book_bar__plus_01_dot_64_bar__plus_00_dot_42_bar__minus_00_dot_41 Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07) + + + (receptacleAtLocation Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07 loc_bar_5_bar__minus_5_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_40_bar__plus_00_dot_10_bar__minus_01_dot_63 loc_bar__minus_1_bar__minus_1_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_40_bar__plus_00_dot_28_bar__minus_01_dot_63 loc_bar_0_bar__minus_1_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_40_bar__plus_00_dot_48_bar__minus_01_dot_63 loc_bar_0_bar__minus_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63 loc_bar_0_bar__minus_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_40_bar__plus_00_dot_86_bar__minus_01_dot_63 loc_bar_0_bar__minus_2_bar_2_bar_30) + (receptacleAtLocation Drawer_bar__plus_02_dot_21_bar__plus_00_dot_47_bar__plus_01_dot_33 loc_bar_5_bar_5_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_39_bar__plus_00_dot_10_bar__minus_01_dot_63 loc_bar__minus_4_bar__minus_1_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_39_bar__plus_00_dot_28_bar__minus_01_dot_63 loc_bar__minus_1_bar__minus_1_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_63 loc_bar__minus_3_bar__minus_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_01_dot_63 loc_bar__minus_1_bar__minus_2_bar_2_bar_30) + (receptacleAtLocation Drawer_bar__minus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63 loc_bar__minus_2_bar__minus_2_bar_2_bar_45) + (receptacleAtLocation Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80 loc_bar_1_bar__minus_4_bar_2_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_02_dot_21_bar__plus_00_dot_00_bar__minus_01_dot_74 loc_bar__minus_5_bar__minus_4_bar_3_bar_60) + (receptacleAtLocation LaundryHamper_bar__minus_01_dot_61_bar__plus_00_dot_01_bar__minus_02_dot_06 loc_bar__minus_5_bar__minus_7_bar_3_bar_60) + (receptacleAtLocation Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02 loc_bar_8_bar__minus_4_bar_2_bar_60) + (receptacleAtLocation SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51 loc_bar_5_bar_4_bar_1_bar_60) + (objectAtLocation Pen_bar__plus_00_dot_31_bar__plus_00_dot_22_bar__minus_01_dot_66 loc_bar_0_bar__minus_1_bar_2_bar_45) + (objectAtLocation Bowl_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_63 loc_bar_1_bar__minus_4_bar_2_bar_60) + (objectAtLocation Pillow_bar__plus_00_dot_65_bar__plus_00_dot_48_bar__plus_00_dot_25 loc_bar_5_bar__minus_5_bar_0_bar_45) + (objectAtLocation Pencil_bar__minus_00_dot_39_bar__plus_00_dot_04_bar__minus_01_dot_71 loc_bar__minus_4_bar__minus_1_bar_2_bar_45) + (objectAtLocation CellPhone_bar__plus_02_dot_31_bar__plus_00_dot_57_bar__plus_01_dot_29 loc_bar_5_bar_4_bar_1_bar_60) + (objectAtLocation Book_bar__plus_01_dot_64_bar__plus_00_dot_42_bar__minus_00_dot_41 loc_bar_5_bar__minus_5_bar_0_bar_45) + (objectAtLocation Pencil_bar__plus_02_dot_25_bar__plus_00_dot_57_bar__plus_01_dot_19 loc_bar_5_bar_4_bar_1_bar_60) + (objectAtLocation CellPhone_bar__plus_02_dot_17_bar__plus_00_dot_47_bar__plus_01_dot_30 loc_bar_5_bar_5_bar_1_bar_45) + (objectAtLocation Box_bar__minus_01_dot_75_bar__plus_00_dot_25_bar__plus_01_dot_50 loc_bar__minus_7_bar_4_bar_0_bar_60) + (objectAtLocation Book_bar__plus_00_dot_40_bar__plus_00_dot_04_bar__minus_01_dot_71 loc_bar__minus_1_bar__minus_1_bar_2_bar_45) + (objectAtLocation LaundryHamperLid_bar__minus_01_dot_61_bar__plus_00_dot_48_bar__minus_02_dot_06 loc_bar__minus_5_bar__minus_7_bar_3_bar_60) + (objectAtLocation Cloth_bar__minus_01_dot_15_bar__plus_00_dot_00_bar__minus_02_dot_12 loc_bar__minus_5_bar__minus_7_bar_2_bar_60) + (objectAtLocation CellPhone_bar__plus_01_dot_69_bar__plus_00_dot_04_bar__minus_01_dot_87 loc_bar_8_bar__minus_4_bar_2_bar_60) + (objectAtLocation Pencil_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_85 loc_bar_1_bar__minus_4_bar_2_bar_60) + (objectAtLocation AlarmClock_bar__plus_02_dot_17_bar__plus_00_dot_57_bar__plus_01_dot_22 loc_bar_5_bar_4_bar_1_bar_60) + (objectAtLocation TeddyBear_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_46 loc_bar__minus_8_bar_4_bar_0_bar_60) + (objectAtLocation CreditCard_bar__plus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_63 loc_bar_1_bar__minus_4_bar_2_bar_60) + (objectAtLocation DeskLamp_bar__plus_02_dot_27_bar__plus_00_dot_57_bar__plus_01_dot_44 loc_bar_5_bar_4_bar_1_bar_60) + (objectAtLocation KeyChain_bar__plus_00_dot_40_bar__plus_00_dot_22_bar__minus_01_dot_82 loc_bar_0_bar__minus_1_bar_2_bar_45) + (objectAtLocation Pillow_bar__plus_01_dot_15_bar__plus_00_dot_48_bar__minus_00_dot_25 loc_bar_5_bar__minus_5_bar_0_bar_45) + (objectAtLocation Pillow_bar__plus_01_dot_15_bar__plus_00_dot_48_bar__plus_00_dot_25 loc_bar_5_bar__minus_5_bar_0_bar_45) + (objectAtLocation Laptop_bar__minus_00_dot_50_bar__plus_00_dot_97_bar__minus_01_dot_72 loc_bar_1_bar__minus_4_bar_2_bar_60) + (objectAtLocation Poster_bar__plus_02_dot_44_bar__plus_01_dot_51_bar__plus_00_dot_01 loc_bar_8_bar__minus_4_bar_0_bar_15) + (objectAtLocation Bowl_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_85 loc_bar_1_bar__minus_4_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__minus_02_dot_46_bar__plus_01_dot_27_bar__minus_00_dot_10 loc_bar__minus_8_bar_0_bar_3_bar_45) + (objectAtLocation Cloth_bar__minus_01_dot_29_bar__plus_00_dot_00_bar__minus_01_dot_94 loc_bar__minus_5_bar__minus_7_bar_2_bar_60) + (objectAtLocation Mirror_bar__plus_02_dot_46_bar__plus_01_dot_32_bar__minus_01_dot_42 loc_bar_8_bar__minus_6_bar_1_bar_30) + (objectAtLocation CD_bar__plus_01_dot_70_bar__plus_00_dot_04_bar__minus_02_dot_08 loc_bar_7_bar__minus_6_bar_2_bar_60) + (objectAtLocation Pen_bar__minus_00_dot_39_bar__plus_00_dot_22_bar__minus_01_dot_77 loc_bar__minus_1_bar__minus_1_bar_2_bar_45) + (objectAtLocation Window_bar__minus_01_dot_44_bar__plus_01_dot_82_bar__minus_02_dot_35 loc_bar__minus_5_bar__minus_7_bar_2_bar__minus_15) + (objectAtLocation Window_bar__plus_01_dot_40_bar__plus_01_dot_82_bar__minus_02_dot_35 loc_bar_6_bar__minus_6_bar_2_bar__minus_15) + (objectAtLocation Blinds_bar__plus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 loc_bar_6_bar__minus_6_bar_2_bar__minus_30) + (objectAtLocation Blinds_bar__minus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 loc_bar__minus_5_bar__minus_7_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 LaptopType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Laptop-None-DeskLamp-317/trial_T20190909_001842_530744/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Laptop-None-DeskLamp-317/trial_T20190909_001842_530744/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..03fcd74cb8d6b031140fb870719bbe59d0f04df8 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Laptop-None-DeskLamp-317/trial_T20190909_001842_530744/traj_data.json @@ -0,0 +1,3419 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000001.png", + 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"object_toggles": [ + { + "isOn": false, + "objectType": "DeskLamp" + } + ], + "random_seed": 190479796, + "scene_num": 317 + }, + "task_id": "trial_T20190909_001842_530744", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1RLO9LNUJIW5S_3QY7M81QHADDZTLY95QVIC6NU78K7T", + "high_descs": [ + "Turn left and walk to the laptop on the dresser in front of you.", + "Close the laptop and pick it up please.", + "Turn around and walk to the wall then turn right and walk to the small night stand.", + "Turn on the light that's on the night stand." + ], + "task_desc": "Inspect a laptop by lamp light.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2A4UAFZ5LW71K_3Z4AIRP3C9458753J8OB7WNCNUM1X1", + "high_descs": [ + "turn around, take a step, turn right, walk to the dresser", + "close the computer that is on the dresser, pick it up", + "turn around, walk to the wall, turn right, walk to the small table", + "turn the lamp on" + ], + "task_desc": "examine a computer with a lamp", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AM2KK02JXXW48_3KGTPGBS60CKGOT4X7D2S8YDLIIU2I", + "high_descs": [ + "Go to the computer on the dresser to your left.", + "Pick up the computer on the dresser. ", + "Turn around, bring the computer around the left side of the bed to the lamp on the table in the corner.", + "Turn on the lamp." + ], + "task_desc": "Examine a computer by the light of the lamp in the corner. ", + "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-Laptop-None-DeskLamp-317/trial_T20190909_001901_917364/game.tw-pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Laptop-None-DeskLamp-317/trial_T20190909_001901_917364/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..17ff15ab32a2509b7644a29cf796b585ae81109f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Laptop-None-DeskLamp-317/trial_T20190909_001901_917364/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 laptop 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_001901_917364)\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_40_bar__plus_00_dot_97_bar__minus_01_dot_56 - object\n Blinds_bar__plus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 - object\n Blinds_bar__minus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 - object\n Book_bar__minus_00_dot_58_bar__plus_00_dot_22_bar__minus_01_dot_60 - object\n Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86 - object\n Box_bar__minus_01_dot_75_bar__plus_00_dot_25_bar__plus_01_dot_50 - object\n CD_bar__plus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_71 - object\n CD_bar__minus_02_dot_22_bar__plus_00_dot_05_bar__minus_01_dot_79 - object\n CellPhone_bar__plus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_56 - object\n CellPhone_bar__plus_01_dot_64_bar__plus_00_dot_42_bar__plus_00_dot_09 - object\n Cloth_bar__minus_01_dot_15_bar__plus_00_dot_00_bar__minus_02_dot_12 - object\n Cloth_bar__minus_01_dot_29_bar__plus_00_dot_00_bar__minus_01_dot_94 - object\n CreditCard_bar__plus_00_dot_30_bar__plus_00_dot_04_bar__minus_01_dot_54 - object\n CreditCard_bar__plus_00_dot_59_bar__plus_00_dot_04_bar__minus_01_dot_77 - object\n DeskLamp_bar__plus_02_dot_27_bar__plus_00_dot_57_bar__plus_01_dot_44 - object\n KeyChain_bar__plus_01_dot_70_bar__plus_00_dot_04_bar__minus_01_dot_92 - object\n Laptop_bar__plus_00_dot_90_bar__plus_00_dot_41_bar__minus_00_dot_08 - object\n Laptop_bar__minus_00_dot_50_bar__plus_00_dot_97_bar__minus_01_dot_72 - object\n LaundryHamperLid_bar__minus_01_dot_61_bar__plus_00_dot_48_bar__minus_02_dot_06 - object\n LightSwitch_bar__minus_02_dot_46_bar__plus_01_dot_27_bar__minus_00_dot_10 - object\n Mirror_bar__plus_02_dot_46_bar__plus_01_dot_32_bar__minus_01_dot_42 - object\n Pencil_bar__plus_00_dot_49_bar__plus_00_dot_41_bar__minus_01_dot_54 - object\n Pencil_bar__plus_02_dot_21_bar__plus_00_dot_58_bar__plus_01_dot_24 - object\n Pen_bar__plus_00_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_71 - object\n Pen_bar__minus_00_dot_39_bar__plus_00_dot_22_bar__minus_01_dot_71 - object\n Pillow_bar__plus_02_dot_11_bar__plus_00_dot_42_bar__plus_00_dot_33 - object\n Pillow_bar__plus_02_dot_15_bar__plus_00_dot_43_bar__minus_00_dot_24 - object\n Poster_bar__plus_02_dot_44_bar__plus_01_dot_51_bar__plus_00_dot_01 - object\n TeddyBear_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_46 - object\n Window_bar__plus_01_dot_40_bar__plus_01_dot_82_bar__minus_02_dot_35 - object\n Window_bar__minus_01_dot_44_bar__plus_01_dot_82_bar__minus_02_dot_35 - object\n Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07 - receptacle\n Drawer_bar__plus_00_dot_40_bar__plus_00_dot_10_bar__minus_01_dot_63 - receptacle\n Drawer_bar__plus_00_dot_40_bar__plus_00_dot_28_bar__minus_01_dot_63 - receptacle\n Drawer_bar__plus_00_dot_40_bar__plus_00_dot_48_bar__minus_01_dot_63 - receptacle\n Drawer_bar__plus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63 - receptacle\n Drawer_bar__plus_00_dot_40_bar__plus_00_dot_86_bar__minus_01_dot_63 - receptacle\n Drawer_bar__plus_02_dot_21_bar__plus_00_dot_47_bar__plus_01_dot_33 - receptacle\n Drawer_bar__minus_00_dot_39_bar__plus_00_dot_10_bar__minus_01_dot_63 - receptacle\n Drawer_bar__minus_00_dot_39_bar__plus_00_dot_28_bar__minus_01_dot_63 - receptacle\n Drawer_bar__minus_00_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_63 - receptacle\n Drawer_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_01_dot_63 - receptacle\n Drawer_bar__minus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63 - receptacle\n Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80 - receptacle\n GarbageCan_bar__minus_02_dot_21_bar__plus_00_dot_00_bar__minus_01_dot_74 - receptacle\n LaundryHamper_bar__minus_01_dot_61_bar__plus_00_dot_01_bar__minus_02_dot_06 - receptacle\n Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02 - receptacle\n SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51 - receptacle\n loc_bar_8_bar__minus_4_bar_0_bar_15 - location\n loc_bar__minus_8_bar_0_bar_3_bar_45 - location\n loc_bar__minus_1_bar__minus_2_bar_2_bar_30 - location\n loc_bar_5_bar_4_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_1_bar_2_bar_45 - location\n loc_bar_1_bar__minus_4_bar_2_bar_60 - location\n loc_bar_8_bar__minus_4_bar_2_bar_60 - location\n loc_bar_5_bar__minus_5_bar_0_bar_45 - location\n loc_bar_6_bar__minus_6_bar_2_bar__minus_30 - location\n loc_bar__minus_1_bar__minus_1_bar_2_bar_45 - location\n loc_bar__minus_2_bar__minus_2_bar_2_bar_45 - location\n loc_bar__minus_5_bar__minus_7_bar_2_bar__minus_15 - location\n loc_bar__minus_7_bar_4_bar_0_bar_60 - location\n loc_bar_8_bar__minus_6_bar_1_bar_30 - location\n loc_bar__minus_5_bar__minus_7_bar_2_bar__minus_30 - location\n loc_bar__minus_5_bar__minus_7_bar_2_bar_60 - location\n loc_bar_6_bar__minus_6_bar_2_bar__minus_15 - location\n loc_bar__minus_3_bar__minus_2_bar_2_bar_45 - location\n loc_bar_0_bar__minus_2_bar_2_bar_30 - location\n loc_bar_5_bar_5_bar_1_bar_45 - location\n loc_bar__minus_5_bar__minus_7_bar_3_bar_60 - location\n loc_bar__minus_5_bar__minus_4_bar_3_bar_60 - location\n loc_bar_0_bar__minus_2_bar_2_bar_45 - location\n loc_bar_0_bar__minus_1_bar_2_bar_45 - location\n loc_bar__minus_8_bar_4_bar_0_bar_60 - location\n loc_bar__minus_7_bar_1_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02 SafeType)\n (receptacleType Drawer_bar__minus_00_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_63 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_40_bar__plus_00_dot_10_bar__minus_01_dot_63 DrawerType)\n (receptacleType SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51 SideTableType)\n (receptacleType GarbageCan_bar__minus_02_dot_21_bar__plus_00_dot_00_bar__minus_01_dot_74 GarbageCanType)\n (receptacleType Drawer_bar__plus_02_dot_21_bar__plus_00_dot_47_bar__plus_01_dot_33 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_40_bar__plus_00_dot_86_bar__minus_01_dot_63 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_40_bar__plus_00_dot_48_bar__minus_01_dot_63 DrawerType)\n (receptacleType LaundryHamper_bar__minus_01_dot_61_bar__plus_00_dot_01_bar__minus_02_dot_06 LaundryHamperType)\n (receptacleType Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80 DresserType)\n (receptacleType Drawer_bar__minus_00_dot_39_bar__plus_00_dot_10_bar__minus_01_dot_63 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_39_bar__plus_00_dot_28_bar__minus_01_dot_63 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_40_bar__plus_00_dot_28_bar__minus_01_dot_63 DrawerType)\n (receptacleType Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07 BedType)\n (receptacleType Drawer_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_01_dot_63 DrawerType)\n (objectType Book_bar__minus_00_dot_58_bar__plus_00_dot_22_bar__minus_01_dot_60 BookType)\n (objectType Pen_bar__minus_00_dot_39_bar__plus_00_dot_22_bar__minus_01_dot_71 PenType)\n (objectType Cloth_bar__minus_01_dot_15_bar__plus_00_dot_00_bar__minus_02_dot_12 ClothType)\n (objectType LightSwitch_bar__minus_02_dot_46_bar__plus_01_dot_27_bar__minus_00_dot_10 LightSwitchType)\n (objectType AlarmClock_bar__plus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_56 AlarmClockType)\n (objectType Pillow_bar__plus_02_dot_11_bar__plus_00_dot_42_bar__plus_00_dot_33 PillowType)\n (objectType Window_bar__minus_01_dot_44_bar__plus_01_dot_82_bar__minus_02_dot_35 WindowType)\n (objectType Cloth_bar__minus_01_dot_29_bar__plus_00_dot_00_bar__minus_01_dot_94 ClothType)\n (objectType Mirror_bar__plus_02_dot_46_bar__plus_01_dot_32_bar__minus_01_dot_42 MirrorType)\n (objectType Box_bar__minus_01_dot_75_bar__plus_00_dot_25_bar__plus_01_dot_50 BoxType)\n (objectType Laptop_bar__minus_00_dot_50_bar__plus_00_dot_97_bar__minus_01_dot_72 LaptopType)\n (objectType Window_bar__plus_01_dot_40_bar__plus_01_dot_82_bar__minus_02_dot_35 WindowType)\n (objectType Laptop_bar__plus_00_dot_90_bar__plus_00_dot_41_bar__minus_00_dot_08 LaptopType)\n (objectType CreditCard_bar__plus_00_dot_30_bar__plus_00_dot_04_bar__minus_01_dot_54 CreditCardType)\n (objectType Blinds_bar__plus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 BlindsType)\n (objectType CellPhone_bar__plus_01_dot_64_bar__plus_00_dot_42_bar__plus_00_dot_09 CellPhoneType)\n (objectType TeddyBear_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_46 TeddyBearType)\n (objectType CD_bar__plus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_71 CDType)\n (objectType KeyChain_bar__plus_01_dot_70_bar__plus_00_dot_04_bar__minus_01_dot_92 KeyChainType)\n (objectType Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86 BowlType)\n (objectType Pen_bar__plus_00_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_71 PenType)\n (objectType 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(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 ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType BowlType)\n (canContain SideTableType CDType)\n (canContain SideTableType BoxType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType 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CellPhone_bar__plus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_56 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80)\n (inReceptacle CD_bar__plus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_71 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80)\n (inReceptacle Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80)\n (inReceptacle AlarmClock_bar__plus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_56 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80)\n (inReceptacle Pen_bar__plus_00_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_71 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80)\n (inReceptacle Book_bar__minus_00_dot_58_bar__plus_00_dot_22_bar__minus_01_dot_60 Drawer_bar__minus_00_dot_39_bar__plus_00_dot_28_bar__minus_01_dot_63)\n (inReceptacle Pen_bar__minus_00_dot_39_bar__plus_00_dot_22_bar__minus_01_dot_71 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Pillow_bar__plus_02_dot_11_bar__plus_00_dot_42_bar__plus_00_dot_33 Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07)\n \n \n (receptacleAtLocation Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07 loc_bar_5_bar__minus_5_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_40_bar__plus_00_dot_10_bar__minus_01_dot_63 loc_bar__minus_1_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_40_bar__plus_00_dot_28_bar__minus_01_dot_63 loc_bar_0_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_40_bar__plus_00_dot_48_bar__minus_01_dot_63 loc_bar_0_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63 loc_bar_0_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_40_bar__plus_00_dot_86_bar__minus_01_dot_63 loc_bar_0_bar__minus_2_bar_2_bar_30)\n (receptacleAtLocation Drawer_bar__plus_02_dot_21_bar__plus_00_dot_47_bar__plus_01_dot_33 loc_bar_5_bar_5_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_39_bar__plus_00_dot_10_bar__minus_01_dot_63 loc_bar__minus_4_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_39_bar__plus_00_dot_28_bar__minus_01_dot_63 loc_bar__minus_1_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_63 loc_bar__minus_3_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_01_dot_63 loc_bar__minus_1_bar__minus_2_bar_2_bar_30)\n (receptacleAtLocation Drawer_bar__minus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63 loc_bar__minus_2_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_02_dot_21_bar__plus_00_dot_00_bar__minus_01_dot_74 loc_bar__minus_5_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation LaundryHamper_bar__minus_01_dot_61_bar__plus_00_dot_01_bar__minus_02_dot_06 loc_bar__minus_5_bar__minus_7_bar_3_bar_60)\n (receptacleAtLocation Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02 loc_bar_8_bar__minus_4_bar_2_bar_60)\n (receptacleAtLocation SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51 loc_bar_5_bar_4_bar_1_bar_60)\n (objectAtLocation Pen_bar__plus_00_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_71 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation CD_bar__plus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_71 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_50_bar__plus_00_dot_97_bar__minus_01_dot_72 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__plus_00_dot_59_bar__plus_00_dot_04_bar__minus_01_dot_77 loc_bar__minus_1_bar__minus_1_bar_2_bar_45)\n (objectAtLocation Pencil_bar__plus_02_dot_21_bar__plus_00_dot_58_bar__plus_01_dot_24 loc_bar_5_bar_4_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__plus_01_dot_64_bar__plus_00_dot_42_bar__plus_00_dot_09 loc_bar_5_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Box_bar__minus_01_dot_75_bar__plus_00_dot_25_bar__plus_01_dot_50 loc_bar__minus_7_bar_4_bar_0_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_58_bar__plus_00_dot_22_bar__minus_01_dot_60 loc_bar__minus_1_bar__minus_1_bar_2_bar_45)\n (objectAtLocation LaundryHamperLid_bar__minus_01_dot_61_bar__plus_00_dot_48_bar__minus_02_dot_06 loc_bar__minus_5_bar__minus_7_bar_3_bar_60)\n (objectAtLocation Cloth_bar__minus_01_dot_15_bar__plus_00_dot_00_bar__minus_02_dot_12 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__plus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_56 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Pencil_bar__plus_00_dot_49_bar__plus_00_dot_41_bar__minus_01_dot_54 loc_bar_0_bar__minus_2_bar_2_bar_45)\n (objectAtLocation AlarmClock_bar__plus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_56 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation TeddyBear_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_46 loc_bar__minus_8_bar_4_bar_0_bar_60)\n (objectAtLocation CreditCard_bar__plus_00_dot_30_bar__plus_00_dot_04_bar__minus_01_dot_54 loc_bar__minus_1_bar__minus_1_bar_2_bar_45)\n (objectAtLocation DeskLamp_bar__plus_02_dot_27_bar__plus_00_dot_57_bar__plus_01_dot_44 loc_bar_5_bar_4_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__plus_01_dot_70_bar__plus_00_dot_04_bar__minus_01_dot_92 loc_bar_8_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Pillow_bar__plus_02_dot_11_bar__plus_00_dot_42_bar__plus_00_dot_33 loc_bar_5_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Pillow_bar__plus_02_dot_15_bar__plus_00_dot_43_bar__minus_00_dot_24 loc_bar_5_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Laptop_bar__plus_00_dot_90_bar__plus_00_dot_41_bar__minus_00_dot_08 loc_bar_5_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Poster_bar__plus_02_dot_44_bar__plus_01_dot_51_bar__plus_00_dot_01 loc_bar_8_bar__minus_4_bar_0_bar_15)\n (objectAtLocation Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation LightSwitch_bar__minus_02_dot_46_bar__plus_01_dot_27_bar__minus_00_dot_10 loc_bar__minus_8_bar_0_bar_3_bar_45)\n (objectAtLocation Cloth_bar__minus_01_dot_29_bar__plus_00_dot_00_bar__minus_01_dot_94 loc_bar__minus_5_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Mirror_bar__plus_02_dot_46_bar__plus_01_dot_32_bar__minus_01_dot_42 loc_bar_8_bar__minus_6_bar_1_bar_30)\n (objectAtLocation CD_bar__minus_02_dot_22_bar__plus_00_dot_05_bar__minus_01_dot_79 loc_bar__minus_5_bar__minus_4_bar_3_bar_60)\n (objectAtLocation Pen_bar__minus_00_dot_39_bar__plus_00_dot_22_bar__minus_01_dot_71 loc_bar__minus_1_bar__minus_1_bar_2_bar_45)\n (objectAtLocation Window_bar__minus_01_dot_44_bar__plus_01_dot_82_bar__minus_02_dot_35 loc_bar__minus_5_bar__minus_7_bar_2_bar__minus_15)\n (objectAtLocation Window_bar__plus_01_dot_40_bar__plus_01_dot_82_bar__minus_02_dot_35 loc_bar_6_bar__minus_6_bar_2_bar__minus_15)\n (objectAtLocation Blinds_bar__plus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 loc_bar_6_bar__minus_6_bar_2_bar__minus_30)\n (objectAtLocation Blinds_bar__minus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 loc_bar__minus_5_bar__minus_7_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 LaptopType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to dresser 1", "take laptop 2 from dresser 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-Laptop-None-DeskLamp-317/trial_T20190909_001901_917364/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Laptop-None-DeskLamp-317/trial_T20190909_001901_917364/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..5f9655bd19133da21f2803c540efbbd54992b90e --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Laptop-None-DeskLamp-317/trial_T20190909_001901_917364/initial_state.pddl @@ -0,0 +1,598 @@ + +(define (problem plan_trial_T20190909_001901_917364) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_40_bar__plus_00_dot_97_bar__minus_01_dot_56 - object + Blinds_bar__plus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 - object + Blinds_bar__minus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 - object + Book_bar__minus_00_dot_58_bar__plus_00_dot_22_bar__minus_01_dot_60 - object + Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86 - object + Box_bar__minus_01_dot_75_bar__plus_00_dot_25_bar__plus_01_dot_50 - object + CD_bar__plus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_71 - object + CD_bar__minus_02_dot_22_bar__plus_00_dot_05_bar__minus_01_dot_79 - object + CellPhone_bar__plus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_56 - object + CellPhone_bar__plus_01_dot_64_bar__plus_00_dot_42_bar__plus_00_dot_09 - object + Cloth_bar__minus_01_dot_15_bar__plus_00_dot_00_bar__minus_02_dot_12 - object + Cloth_bar__minus_01_dot_29_bar__plus_00_dot_00_bar__minus_01_dot_94 - object + CreditCard_bar__plus_00_dot_30_bar__plus_00_dot_04_bar__minus_01_dot_54 - object + CreditCard_bar__plus_00_dot_59_bar__plus_00_dot_04_bar__minus_01_dot_77 - object + DeskLamp_bar__plus_02_dot_27_bar__plus_00_dot_57_bar__plus_01_dot_44 - object + KeyChain_bar__plus_01_dot_70_bar__plus_00_dot_04_bar__minus_01_dot_92 - object + Laptop_bar__plus_00_dot_90_bar__plus_00_dot_41_bar__minus_00_dot_08 - object + Laptop_bar__minus_00_dot_50_bar__plus_00_dot_97_bar__minus_01_dot_72 - object + LaundryHamperLid_bar__minus_01_dot_61_bar__plus_00_dot_48_bar__minus_02_dot_06 - object + LightSwitch_bar__minus_02_dot_46_bar__plus_01_dot_27_bar__minus_00_dot_10 - object + Mirror_bar__plus_02_dot_46_bar__plus_01_dot_32_bar__minus_01_dot_42 - object + Pencil_bar__plus_00_dot_49_bar__plus_00_dot_41_bar__minus_01_dot_54 - object + Pencil_bar__plus_02_dot_21_bar__plus_00_dot_58_bar__plus_01_dot_24 - object + Pen_bar__plus_00_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_71 - object + Pen_bar__minus_00_dot_39_bar__plus_00_dot_22_bar__minus_01_dot_71 - object + Pillow_bar__plus_02_dot_11_bar__plus_00_dot_42_bar__plus_00_dot_33 - object + Pillow_bar__plus_02_dot_15_bar__plus_00_dot_43_bar__minus_00_dot_24 - object + Poster_bar__plus_02_dot_44_bar__plus_01_dot_51_bar__plus_00_dot_01 - object + TeddyBear_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_46 - object + Window_bar__plus_01_dot_40_bar__plus_01_dot_82_bar__minus_02_dot_35 - object + Window_bar__minus_01_dot_44_bar__plus_01_dot_82_bar__minus_02_dot_35 - object + Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07 - receptacle + Drawer_bar__plus_00_dot_40_bar__plus_00_dot_10_bar__minus_01_dot_63 - receptacle + Drawer_bar__plus_00_dot_40_bar__plus_00_dot_28_bar__minus_01_dot_63 - receptacle + Drawer_bar__plus_00_dot_40_bar__plus_00_dot_48_bar__minus_01_dot_63 - receptacle + Drawer_bar__plus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63 - receptacle + Drawer_bar__plus_00_dot_40_bar__plus_00_dot_86_bar__minus_01_dot_63 - receptacle + Drawer_bar__plus_02_dot_21_bar__plus_00_dot_47_bar__plus_01_dot_33 - receptacle + Drawer_bar__minus_00_dot_39_bar__plus_00_dot_10_bar__minus_01_dot_63 - receptacle + Drawer_bar__minus_00_dot_39_bar__plus_00_dot_28_bar__minus_01_dot_63 - receptacle + Drawer_bar__minus_00_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_63 - receptacle + Drawer_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_01_dot_63 - receptacle + Drawer_bar__minus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63 - receptacle + Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80 - receptacle + GarbageCan_bar__minus_02_dot_21_bar__plus_00_dot_00_bar__minus_01_dot_74 - receptacle + LaundryHamper_bar__minus_01_dot_61_bar__plus_00_dot_01_bar__minus_02_dot_06 - receptacle + Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02 - receptacle + SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51 - receptacle + loc_bar_8_bar__minus_4_bar_0_bar_15 - location + loc_bar__minus_8_bar_0_bar_3_bar_45 - location + loc_bar__minus_1_bar__minus_2_bar_2_bar_30 - location + loc_bar_5_bar_4_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_1_bar_2_bar_45 - location + loc_bar_1_bar__minus_4_bar_2_bar_60 - location + loc_bar_8_bar__minus_4_bar_2_bar_60 - location + loc_bar_5_bar__minus_5_bar_0_bar_45 - location + loc_bar_6_bar__minus_6_bar_2_bar__minus_30 - location + loc_bar__minus_1_bar__minus_1_bar_2_bar_45 - location + loc_bar__minus_2_bar__minus_2_bar_2_bar_45 - location + loc_bar__minus_5_bar__minus_7_bar_2_bar__minus_15 - location + loc_bar__minus_7_bar_4_bar_0_bar_60 - location + loc_bar_8_bar__minus_6_bar_1_bar_30 - location + loc_bar__minus_5_bar__minus_7_bar_2_bar__minus_30 - location + loc_bar__minus_5_bar__minus_7_bar_2_bar_60 - location + loc_bar_6_bar__minus_6_bar_2_bar__minus_15 - location + loc_bar__minus_3_bar__minus_2_bar_2_bar_45 - location + loc_bar_0_bar__minus_2_bar_2_bar_30 - location + loc_bar_5_bar_5_bar_1_bar_45 - location + loc_bar__minus_5_bar__minus_7_bar_3_bar_60 - location + loc_bar__minus_5_bar__minus_4_bar_3_bar_60 - 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__minus_8_bar_4_bar_0_bar_60 - location + loc_bar__minus_7_bar_1_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02 SafeType) + (receptacleType Drawer_bar__minus_00_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_63 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_40_bar__plus_00_dot_10_bar__minus_01_dot_63 DrawerType) + (receptacleType SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51 SideTableType) + (receptacleType GarbageCan_bar__minus_02_dot_21_bar__plus_00_dot_00_bar__minus_01_dot_74 GarbageCanType) + (receptacleType Drawer_bar__plus_02_dot_21_bar__plus_00_dot_47_bar__plus_01_dot_33 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_40_bar__plus_00_dot_86_bar__minus_01_dot_63 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_40_bar__plus_00_dot_48_bar__minus_01_dot_63 DrawerType) + (receptacleType LaundryHamper_bar__minus_01_dot_61_bar__plus_00_dot_01_bar__minus_02_dot_06 LaundryHamperType) + (receptacleType Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80 DresserType) + (receptacleType Drawer_bar__minus_00_dot_39_bar__plus_00_dot_10_bar__minus_01_dot_63 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_39_bar__plus_00_dot_28_bar__minus_01_dot_63 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_40_bar__plus_00_dot_28_bar__minus_01_dot_63 DrawerType) + (receptacleType Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07 BedType) + (receptacleType Drawer_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_01_dot_63 DrawerType) + (objectType Book_bar__minus_00_dot_58_bar__plus_00_dot_22_bar__minus_01_dot_60 BookType) + (objectType Pen_bar__minus_00_dot_39_bar__plus_00_dot_22_bar__minus_01_dot_71 PenType) + (objectType Cloth_bar__minus_01_dot_15_bar__plus_00_dot_00_bar__minus_02_dot_12 ClothType) + (objectType LightSwitch_bar__minus_02_dot_46_bar__plus_01_dot_27_bar__minus_00_dot_10 LightSwitchType) + (objectType AlarmClock_bar__plus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_56 AlarmClockType) + (objectType Pillow_bar__plus_02_dot_11_bar__plus_00_dot_42_bar__plus_00_dot_33 PillowType) + (objectType Window_bar__minus_01_dot_44_bar__plus_01_dot_82_bar__minus_02_dot_35 WindowType) + (objectType Cloth_bar__minus_01_dot_29_bar__plus_00_dot_00_bar__minus_01_dot_94 ClothType) + (objectType Mirror_bar__plus_02_dot_46_bar__plus_01_dot_32_bar__minus_01_dot_42 MirrorType) + (objectType Box_bar__minus_01_dot_75_bar__plus_00_dot_25_bar__plus_01_dot_50 BoxType) + (objectType Laptop_bar__minus_00_dot_50_bar__plus_00_dot_97_bar__minus_01_dot_72 LaptopType) + (objectType Window_bar__plus_01_dot_40_bar__plus_01_dot_82_bar__minus_02_dot_35 WindowType) + (objectType Laptop_bar__plus_00_dot_90_bar__plus_00_dot_41_bar__minus_00_dot_08 LaptopType) + (objectType CreditCard_bar__plus_00_dot_30_bar__plus_00_dot_04_bar__minus_01_dot_54 CreditCardType) + (objectType Blinds_bar__plus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 BlindsType) + (objectType CellPhone_bar__plus_01_dot_64_bar__plus_00_dot_42_bar__plus_00_dot_09 CellPhoneType) + (objectType TeddyBear_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_46 TeddyBearType) + (objectType CD_bar__plus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_71 CDType) + (objectType KeyChain_bar__plus_01_dot_70_bar__plus_00_dot_04_bar__minus_01_dot_92 KeyChainType) + (objectType Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86 BowlType) + (objectType Pen_bar__plus_00_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_71 PenType) + (objectType Blinds_bar__minus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 BlindsType) + (objectType Pencil_bar__plus_00_dot_49_bar__plus_00_dot_41_bar__minus_01_dot_54 PencilType) + (objectType LaundryHamperLid_bar__minus_01_dot_61_bar__plus_00_dot_48_bar__minus_02_dot_06 LaundryHamperLidType) + (objectType DeskLamp_bar__plus_02_dot_27_bar__plus_00_dot_57_bar__plus_01_dot_44 DeskLampType) + (objectType CellPhone_bar__plus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_56 CellPhoneType) + (objectType Pencil_bar__plus_02_dot_21_bar__plus_00_dot_58_bar__plus_01_dot_24 PencilType) + (objectType CreditCard_bar__plus_00_dot_59_bar__plus_00_dot_04_bar__minus_01_dot_77 CreditCardType) + (objectType Pillow_bar__plus_02_dot_15_bar__plus_00_dot_43_bar__minus_00_dot_24 PillowType) + (objectType Poster_bar__plus_02_dot_44_bar__plus_01_dot_51_bar__plus_00_dot_01 PosterType) + (objectType CD_bar__minus_02_dot_22_bar__plus_00_dot_05_bar__minus_01_dot_79 CDType) + (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 ClothType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType ClothType) + (canContain DrawerType PencilType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType BowlType) + (canContain SideTableType CDType) + (canContain SideTableType BoxType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType ClothType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType AlarmClockType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType ClothType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType ClothType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType ClothType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType ClothType) + (canContain DrawerType PencilType) + (canContain LaundryHamperType ClothType) + (canContain DresserType PenType) + (canContain DresserType BookType) + (canContain DresserType BowlType) + (canContain DresserType CDType) + (canContain DresserType BoxType) + (canContain DresserType CellPhoneType) + (canContain DresserType KeyChainType) + (canContain DresserType CreditCardType) + (canContain DresserType ClothType) + (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 ClothType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType ClothType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType ClothType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType ClothType) + (canContain DrawerType PencilType) + (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 ClothType) + (canContain DrawerType PencilType) + (pickupable Book_bar__minus_00_dot_58_bar__plus_00_dot_22_bar__minus_01_dot_60) + (pickupable Pen_bar__minus_00_dot_39_bar__plus_00_dot_22_bar__minus_01_dot_71) + (pickupable Cloth_bar__minus_01_dot_15_bar__plus_00_dot_00_bar__minus_02_dot_12) + (pickupable AlarmClock_bar__plus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_56) + (pickupable Pillow_bar__plus_02_dot_11_bar__plus_00_dot_42_bar__plus_00_dot_33) + (pickupable Cloth_bar__minus_01_dot_29_bar__plus_00_dot_00_bar__minus_01_dot_94) + (pickupable Box_bar__minus_01_dot_75_bar__plus_00_dot_25_bar__plus_01_dot_50) + (pickupable Laptop_bar__minus_00_dot_50_bar__plus_00_dot_97_bar__minus_01_dot_72) + (pickupable Laptop_bar__plus_00_dot_90_bar__plus_00_dot_41_bar__minus_00_dot_08) + (pickupable CreditCard_bar__plus_00_dot_30_bar__plus_00_dot_04_bar__minus_01_dot_54) + (pickupable CellPhone_bar__plus_01_dot_64_bar__plus_00_dot_42_bar__plus_00_dot_09) + (pickupable TeddyBear_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_46) + (pickupable CD_bar__plus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_71) + (pickupable KeyChain_bar__plus_01_dot_70_bar__plus_00_dot_04_bar__minus_01_dot_92) + (pickupable Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86) + (pickupable Pen_bar__plus_00_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_71) + (pickupable Pencil_bar__plus_00_dot_49_bar__plus_00_dot_41_bar__minus_01_dot_54) + (pickupable CellPhone_bar__plus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_56) + (pickupable Pencil_bar__plus_02_dot_21_bar__plus_00_dot_58_bar__plus_01_dot_24) + (pickupable CreditCard_bar__plus_00_dot_59_bar__plus_00_dot_04_bar__minus_01_dot_77) + (pickupable Pillow_bar__plus_02_dot_15_bar__plus_00_dot_43_bar__minus_00_dot_24) + (pickupable CD_bar__minus_02_dot_22_bar__plus_00_dot_05_bar__minus_01_dot_79) + (isReceptacleObject Box_bar__minus_01_dot_75_bar__plus_00_dot_25_bar__plus_01_dot_50) + (isReceptacleObject Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86) + (openable Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02) + (openable Drawer_bar__minus_00_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_63) + (openable Drawer_bar__plus_00_dot_40_bar__plus_00_dot_10_bar__minus_01_dot_63) + (openable Drawer_bar__plus_02_dot_21_bar__plus_00_dot_47_bar__plus_01_dot_33) + (openable Drawer_bar__plus_00_dot_40_bar__plus_00_dot_86_bar__minus_01_dot_63) + (openable Drawer_bar__plus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63) + (openable Drawer_bar__plus_00_dot_40_bar__plus_00_dot_48_bar__minus_01_dot_63) + (openable Drawer_bar__minus_00_dot_39_bar__plus_00_dot_10_bar__minus_01_dot_63) + (openable Drawer_bar__minus_00_dot_39_bar__plus_00_dot_28_bar__minus_01_dot_63) + (openable Drawer_bar__minus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63) + (openable Drawer_bar__plus_00_dot_40_bar__plus_00_dot_28_bar__minus_01_dot_63) + (openable Drawer_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_01_dot_63) + + (atLocation agent1 loc_bar__minus_7_bar_1_bar_0_bar_30) + + (cleanable Cloth_bar__minus_01_dot_15_bar__plus_00_dot_00_bar__minus_02_dot_12) + (cleanable Cloth_bar__minus_01_dot_29_bar__plus_00_dot_00_bar__minus_01_dot_94) + (cleanable Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86) + + + (coolable Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86) + + + (toggleable DeskLamp_bar__plus_02_dot_27_bar__plus_00_dot_57_bar__plus_01_dot_44) + + + + + (inReceptacle CreditCard_bar__plus_00_dot_30_bar__plus_00_dot_04_bar__minus_01_dot_54 Drawer_bar__plus_00_dot_40_bar__plus_00_dot_10_bar__minus_01_dot_63) + (inReceptacle CreditCard_bar__plus_00_dot_59_bar__plus_00_dot_04_bar__minus_01_dot_77 Drawer_bar__plus_00_dot_40_bar__plus_00_dot_10_bar__minus_01_dot_63) + (inReceptacle Pencil_bar__plus_02_dot_21_bar__plus_00_dot_58_bar__plus_01_dot_24 SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51) + (inReceptacle DeskLamp_bar__plus_02_dot_27_bar__plus_00_dot_57_bar__plus_01_dot_44 SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51) + (inReceptacle Laptop_bar__minus_00_dot_50_bar__plus_00_dot_97_bar__minus_01_dot_72 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80) + (inReceptacle CellPhone_bar__plus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_56 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80) + (inReceptacle CD_bar__plus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_71 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80) + (inReceptacle Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80) + (inReceptacle AlarmClock_bar__plus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_56 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80) + (inReceptacle Pen_bar__plus_00_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_71 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80) + (inReceptacle Book_bar__minus_00_dot_58_bar__plus_00_dot_22_bar__minus_01_dot_60 Drawer_bar__minus_00_dot_39_bar__plus_00_dot_28_bar__minus_01_dot_63) + (inReceptacle Pen_bar__minus_00_dot_39_bar__plus_00_dot_22_bar__minus_01_dot_71 Drawer_bar__minus_00_dot_39_bar__plus_00_dot_28_bar__minus_01_dot_63) + (inReceptacle Pencil_bar__plus_00_dot_49_bar__plus_00_dot_41_bar__minus_01_dot_54 Drawer_bar__plus_00_dot_40_bar__plus_00_dot_48_bar__minus_01_dot_63) + (inReceptacle CD_bar__minus_02_dot_22_bar__plus_00_dot_05_bar__minus_01_dot_79 GarbageCan_bar__minus_02_dot_21_bar__plus_00_dot_00_bar__minus_01_dot_74) + (inReceptacle KeyChain_bar__plus_01_dot_70_bar__plus_00_dot_04_bar__minus_01_dot_92 Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02) + (inReceptacle CellPhone_bar__plus_01_dot_64_bar__plus_00_dot_42_bar__plus_00_dot_09 Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07) + (inReceptacle Laptop_bar__plus_00_dot_90_bar__plus_00_dot_41_bar__minus_00_dot_08 Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07) + (inReceptacle Pillow_bar__plus_02_dot_15_bar__plus_00_dot_43_bar__minus_00_dot_24 Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07) + (inReceptacle Pillow_bar__plus_02_dot_11_bar__plus_00_dot_42_bar__plus_00_dot_33 Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07) + + + (receptacleAtLocation Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07 loc_bar_5_bar__minus_5_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_40_bar__plus_00_dot_10_bar__minus_01_dot_63 loc_bar__minus_1_bar__minus_1_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_40_bar__plus_00_dot_28_bar__minus_01_dot_63 loc_bar_0_bar__minus_1_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_40_bar__plus_00_dot_48_bar__minus_01_dot_63 loc_bar_0_bar__minus_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63 loc_bar_0_bar__minus_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_40_bar__plus_00_dot_86_bar__minus_01_dot_63 loc_bar_0_bar__minus_2_bar_2_bar_30) + (receptacleAtLocation Drawer_bar__plus_02_dot_21_bar__plus_00_dot_47_bar__plus_01_dot_33 loc_bar_5_bar_5_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_39_bar__plus_00_dot_10_bar__minus_01_dot_63 loc_bar__minus_4_bar__minus_1_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_39_bar__plus_00_dot_28_bar__minus_01_dot_63 loc_bar__minus_1_bar__minus_1_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_63 loc_bar__minus_3_bar__minus_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_01_dot_63 loc_bar__minus_1_bar__minus_2_bar_2_bar_30) + (receptacleAtLocation Drawer_bar__minus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63 loc_bar__minus_2_bar__minus_2_bar_2_bar_45) + (receptacleAtLocation Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80 loc_bar_1_bar__minus_4_bar_2_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_02_dot_21_bar__plus_00_dot_00_bar__minus_01_dot_74 loc_bar__minus_5_bar__minus_4_bar_3_bar_60) + (receptacleAtLocation LaundryHamper_bar__minus_01_dot_61_bar__plus_00_dot_01_bar__minus_02_dot_06 loc_bar__minus_5_bar__minus_7_bar_3_bar_60) + (receptacleAtLocation Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02 loc_bar_8_bar__minus_4_bar_2_bar_60) + (receptacleAtLocation SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51 loc_bar_5_bar_4_bar_1_bar_60) + (objectAtLocation Pen_bar__plus_00_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_71 loc_bar_1_bar__minus_4_bar_2_bar_60) + (objectAtLocation CD_bar__plus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_71 loc_bar_1_bar__minus_4_bar_2_bar_60) + (objectAtLocation Laptop_bar__minus_00_dot_50_bar__plus_00_dot_97_bar__minus_01_dot_72 loc_bar_1_bar__minus_4_bar_2_bar_60) + (objectAtLocation CreditCard_bar__plus_00_dot_59_bar__plus_00_dot_04_bar__minus_01_dot_77 loc_bar__minus_1_bar__minus_1_bar_2_bar_45) + (objectAtLocation Pencil_bar__plus_02_dot_21_bar__plus_00_dot_58_bar__plus_01_dot_24 loc_bar_5_bar_4_bar_1_bar_60) + (objectAtLocation CellPhone_bar__plus_01_dot_64_bar__plus_00_dot_42_bar__plus_00_dot_09 loc_bar_5_bar__minus_5_bar_0_bar_45) + (objectAtLocation Box_bar__minus_01_dot_75_bar__plus_00_dot_25_bar__plus_01_dot_50 loc_bar__minus_7_bar_4_bar_0_bar_60) + (objectAtLocation Book_bar__minus_00_dot_58_bar__plus_00_dot_22_bar__minus_01_dot_60 loc_bar__minus_1_bar__minus_1_bar_2_bar_45) + (objectAtLocation LaundryHamperLid_bar__minus_01_dot_61_bar__plus_00_dot_48_bar__minus_02_dot_06 loc_bar__minus_5_bar__minus_7_bar_3_bar_60) + (objectAtLocation Cloth_bar__minus_01_dot_15_bar__plus_00_dot_00_bar__minus_02_dot_12 loc_bar__minus_5_bar__minus_7_bar_2_bar_60) + (objectAtLocation CellPhone_bar__plus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_56 loc_bar_1_bar__minus_4_bar_2_bar_60) + (objectAtLocation Pencil_bar__plus_00_dot_49_bar__plus_00_dot_41_bar__minus_01_dot_54 loc_bar_0_bar__minus_2_bar_2_bar_45) + (objectAtLocation AlarmClock_bar__plus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_56 loc_bar_1_bar__minus_4_bar_2_bar_60) + (objectAtLocation TeddyBear_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_46 loc_bar__minus_8_bar_4_bar_0_bar_60) + (objectAtLocation CreditCard_bar__plus_00_dot_30_bar__plus_00_dot_04_bar__minus_01_dot_54 loc_bar__minus_1_bar__minus_1_bar_2_bar_45) + (objectAtLocation DeskLamp_bar__plus_02_dot_27_bar__plus_00_dot_57_bar__plus_01_dot_44 loc_bar_5_bar_4_bar_1_bar_60) + (objectAtLocation KeyChain_bar__plus_01_dot_70_bar__plus_00_dot_04_bar__minus_01_dot_92 loc_bar_8_bar__minus_4_bar_2_bar_60) + (objectAtLocation Pillow_bar__plus_02_dot_11_bar__plus_00_dot_42_bar__plus_00_dot_33 loc_bar_5_bar__minus_5_bar_0_bar_45) + (objectAtLocation Pillow_bar__plus_02_dot_15_bar__plus_00_dot_43_bar__minus_00_dot_24 loc_bar_5_bar__minus_5_bar_0_bar_45) + (objectAtLocation Laptop_bar__plus_00_dot_90_bar__plus_00_dot_41_bar__minus_00_dot_08 loc_bar_5_bar__minus_5_bar_0_bar_45) + (objectAtLocation Poster_bar__plus_02_dot_44_bar__plus_01_dot_51_bar__plus_00_dot_01 loc_bar_8_bar__minus_4_bar_0_bar_15) + (objectAtLocation Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86 loc_bar_1_bar__minus_4_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__minus_02_dot_46_bar__plus_01_dot_27_bar__minus_00_dot_10 loc_bar__minus_8_bar_0_bar_3_bar_45) + (objectAtLocation Cloth_bar__minus_01_dot_29_bar__plus_00_dot_00_bar__minus_01_dot_94 loc_bar__minus_5_bar__minus_7_bar_2_bar_60) + (objectAtLocation Mirror_bar__plus_02_dot_46_bar__plus_01_dot_32_bar__minus_01_dot_42 loc_bar_8_bar__minus_6_bar_1_bar_30) + (objectAtLocation CD_bar__minus_02_dot_22_bar__plus_00_dot_05_bar__minus_01_dot_79 loc_bar__minus_5_bar__minus_4_bar_3_bar_60) + (objectAtLocation Pen_bar__minus_00_dot_39_bar__plus_00_dot_22_bar__minus_01_dot_71 loc_bar__minus_1_bar__minus_1_bar_2_bar_45) + (objectAtLocation Window_bar__minus_01_dot_44_bar__plus_01_dot_82_bar__minus_02_dot_35 loc_bar__minus_5_bar__minus_7_bar_2_bar__minus_15) + (objectAtLocation Window_bar__plus_01_dot_40_bar__plus_01_dot_82_bar__minus_02_dot_35 loc_bar_6_bar__minus_6_bar_2_bar__minus_15) + (objectAtLocation Blinds_bar__plus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 loc_bar_6_bar__minus_6_bar_2_bar__minus_30) + (objectAtLocation Blinds_bar__minus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 loc_bar__minus_5_bar__minus_7_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 LaptopType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git 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of the bed.", + "Close the lid of the laptop on the bed and pick it up.", + "Turn left and walk over to the wall, then turn right and walk up to the nightstand.", + "Turn on the light of the small lamp that is on the nightstand." + ], + "task_desc": "Examine a closed laptop in the light of a small lamp.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1RLO9LNUJIW5S_3JRJSWSMQKCSCAS1B7C270H257XE33", + "high_descs": [ + "Turn around and take a step then turn left and walk to the bed.", + "Close the laptop and pick it up.", + "Turn left and walk to the wall then turn right and walk to the nightstand.", + "Turn on the light on the nightstand." + ], + "task_desc": "Inspect a laptop by lamp light?", + "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-Watch-None-DeskLamp-205/trial_T20190907_001919_953335/game.tw-pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Watch-None-DeskLamp-205/trial_T20190907_001919_953335/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..a36a2d77dc6d13b9333154360c2e171452a92eee --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Watch-None-DeskLamp-205/trial_T20190907_001919_953335/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 watch 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_001919_953335)\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_04_dot_30_bar__plus_00_dot_59_bar__plus_04_dot_63 - object\n Chair_bar__minus_01_dot_08_bar__plus_00_dot_00_bar__plus_01_dot_29 - object\n Chair_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_01_dot_78 - object\n Chair_bar__minus_01_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_78 - object\n Chair_bar__minus_02_dot_15_bar__plus_00_dot_00_bar__plus_01_dot_29 - object\n CreditCard_bar__minus_00_dot_41_bar__plus_00_dot_63_bar__plus_03_dot_63 - object\n Curtains_bar__minus_00_dot_04_bar__plus_02_dot_15_bar__plus_01_dot_00 - object\n DeskLamp_bar__minus_00_dot_26_bar__plus_00_dot_62_bar__plus_03_dot_31 - object\n FloorLamp_bar__minus_04_dot_72_bar__plus_00_dot_00_bar__plus_03_dot_69 - object\n HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_62_bar__plus_03_dot_99 - object\n KeyChain_bar__minus_02_dot_20_bar__plus_00_dot_84_bar__plus_06_dot_83 - object\n KeyChain_bar__minus_02_dot_49_bar__plus_00_dot_40_bar__plus_03_dot_40 - object\n Laptop_bar__minus_02_dot_49_bar__plus_00_dot_46_bar__plus_03_dot_63 - object\n Laptop_bar__minus_04_dot_38_bar__plus_00_dot_48_bar__plus_05_dot_79 - object\n LightSwitch_bar__minus_03_dot_48_bar__plus_01_dot_47_bar__plus_00_dot_00 - object\n Painting_bar__minus_00_dot_02_bar__plus_02_dot_06_bar__plus_05_dot_38 - object\n Pillow_bar__minus_04_dot_30_bar__plus_00_dot_55_bar__plus_05_dot_33 - object\n RemoteControl_bar__minus_01_dot_59_bar__plus_00_dot_76_bar__plus_00_dot_85 - object\n RemoteControl_bar__minus_02_dot_14_bar__plus_00_dot_84_bar__plus_06_dot_83 - object\n RemoteControl_bar__minus_02_dot_57_bar__plus_00_dot_40_bar__plus_03_dot_55 - object\n Statue_bar__minus_01_dot_17_bar__plus_00_dot_76_bar__plus_00_dot_99 - object\n Statue_bar__minus_01_dot_73_bar__plus_00_dot_76_bar__plus_01_dot_41 - object\n Television_bar__minus_03_dot_19_bar__plus_01_dot_18_bar__plus_06_dot_78 - object\n Watch_bar__minus_01_dot_17_bar__plus_00_dot_76_bar__plus_01_dot_41 - object\n Watch_bar__minus_03_dot_48_bar__plus_00_dot_38_bar__plus_06_dot_70 - object\n WateringCan_bar__minus_00_dot_21_bar_00_dot_00_bar__plus_03_dot_23 - object\n Window_bar__minus_00_dot_01_bar__plus_01_dot_34_bar__plus_01_dot_73 - object\n ArmChair_bar__minus_02_dot_45_bar__plus_00_dot_01_bar__plus_03_dot_50 - receptacle\n ArmChair_bar__minus_03_dot_55_bar__plus_00_dot_00_bar__plus_03_dot_58 - receptacle\n DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27 - receptacle\n Drawer_bar__minus_02_dot_93_bar__plus_00_dot_16_bar__plus_06_dot_71 - receptacle\n Drawer_bar__minus_02_dot_93_bar__plus_00_dot_47_bar__plus_06_dot_71 - receptacle\n Drawer_bar__minus_03_dot_48_bar__plus_00_dot_16_bar__plus_06_dot_71 - receptacle\n Drawer_bar__minus_03_dot_48_bar__plus_00_dot_47_bar__plus_06_dot_71 - receptacle\n Dresser_bar__minus_03_dot_20_bar__minus_00_dot_01_bar__plus_06_dot_79 - receptacle\n GarbageCan_bar__minus_00_dot_26_bar__plus_00_dot_00_bar__plus_06_dot_80 - receptacle\n Ottoman_bar__minus_02_dot_43_bar__plus_00_dot_03_bar__plus_04_dot_41 - receptacle\n SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_52 - receptacle\n SideTable_bar__minus_02_dot_07_bar_00_dot_00_bar__plus_06_dot_70 - receptacle\n SideTable_bar__minus_04_dot_19_bar_00_dot_00_bar__plus_03_dot_59 - receptacle\n Sofa_bar__minus_04_dot_43_bar__plus_00_dot_01_bar__plus_05_dot_06 - receptacle\n loc_bar__minus_15_bar_18_bar_2_bar_60 - location\n loc_bar__minus_12_bar_23_bar_0_bar_45 - location\n loc_bar__minus_18_bar_12_bar_0_bar_60 - location\n loc_bar__minus_13_bar_24_bar_0_bar_60 - location\n loc_bar__minus_7_bar_24_bar_0_bar_60 - location\n loc_bar__minus_10_bar_23_bar_0_bar_45 - location\n loc_bar__minus_11_bar_5_bar_1_bar_60 - location\n loc_bar__minus_3_bar_26_bar_1_bar_60 - location\n loc_bar__minus_6_bar_9_bar_2_bar_60 - location\n loc_bar__minus_4_bar_14_bar_1_bar_60 - location\n loc_bar__minus_13_bar_21_bar_3_bar_60 - location\n loc_bar__minus_9_bar_2_bar_1_bar_60 - location\n loc_bar__minus_3_bar_3_bar_1_bar__minus_30 - location\n loc_bar__minus_10_bar_20_bar_2_bar_60 - location\n loc_bar__minus_10_bar_11_bar_0_bar_60 - location\n loc_bar__minus_12_bar_22_bar_0_bar_45 - location\n loc_bar__minus_2_bar_6_bar_3_bar_60 - location\n loc_bar__minus_14_bar_2_bar_2_bar_15 - location\n loc_bar__minus_14_bar_22_bar_0_bar_45 - location\n loc_bar__minus_15_bar_11_bar_0_bar_60 - location\n loc_bar__minus_3_bar_22_bar_1_bar__minus_30 - location\n loc_bar__minus_2_bar_7_bar_1_bar_30 - location\n loc_bar__minus_3_bar_13_bar_1_bar_60 - location\n loc_bar__minus_10_bar_10_bar_0_bar_60 - location\n loc_bar__minus_7_bar_1_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType GarbageCan_bar__minus_00_dot_26_bar__plus_00_dot_00_bar__plus_06_dot_80 GarbageCanType)\n (receptacleType SideTable_bar__minus_02_dot_07_bar_00_dot_00_bar__plus_06_dot_70 SideTableType)\n (receptacleType Ottoman_bar__minus_02_dot_43_bar__plus_00_dot_03_bar__plus_04_dot_41 OttomanType)\n (receptacleType Sofa_bar__minus_04_dot_43_bar__plus_00_dot_01_bar__plus_05_dot_06 SofaType)\n (receptacleType ArmChair_bar__minus_03_dot_55_bar__plus_00_dot_00_bar__plus_03_dot_58 ArmChairType)\n (receptacleType Drawer_bar__minus_03_dot_48_bar__plus_00_dot_16_bar__plus_06_dot_71 DrawerType)\n (receptacleType Drawer_bar__minus_03_dot_48_bar__plus_00_dot_47_bar__plus_06_dot_71 DrawerType)\n (receptacleType Drawer_bar__minus_02_dot_93_bar__plus_00_dot_47_bar__plus_06_dot_71 DrawerType)\n (receptacleType ArmChair_bar__minus_02_dot_45_bar__plus_00_dot_01_bar__plus_03_dot_50 ArmChairType)\n (receptacleType Drawer_bar__minus_02_dot_93_bar__plus_00_dot_16_bar__plus_06_dot_71 DrawerType)\n (receptacleType SideTable_bar__minus_04_dot_19_bar_00_dot_00_bar__plus_03_dot_59 SideTableType)\n (receptacleType SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_52 SideTableType)\n (receptacleType Dresser_bar__minus_03_dot_20_bar__minus_00_dot_01_bar__plus_06_dot_79 DresserType)\n (receptacleType DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27 DiningTableType)\n (objectType Statue_bar__minus_01_dot_17_bar__plus_00_dot_76_bar__plus_00_dot_99 StatueType)\n (objectType Chair_bar__minus_01_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_78 ChairType)\n (objectType KeyChain_bar__minus_02_dot_20_bar__plus_00_dot_84_bar__plus_06_dot_83 KeyChainType)\n (objectType FloorLamp_bar__minus_04_dot_72_bar__plus_00_dot_00_bar__plus_03_dot_69 FloorLampType)\n (objectType Chair_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_01_dot_78 ChairType)\n (objectType Chair_bar__minus_01_dot_08_bar__plus_00_dot_00_bar__plus_01_dot_29 ChairType)\n (objectType CreditCard_bar__minus_00_dot_41_bar__plus_00_dot_63_bar__plus_03_dot_63 CreditCardType)\n (objectType LightSwitch_bar__minus_03_dot_48_bar__plus_01_dot_47_bar__plus_00_dot_00 LightSwitchType)\n (objectType Laptop_bar__minus_04_dot_38_bar__plus_00_dot_48_bar__plus_05_dot_79 LaptopType)\n (objectType Chair_bar__minus_02_dot_15_bar__plus_00_dot_00_bar__plus_01_dot_29 ChairType)\n (objectType Television_bar__minus_03_dot_19_bar__plus_01_dot_18_bar__plus_06_dot_78 TelevisionType)\n (objectType Window_bar__minus_00_dot_01_bar__plus_01_dot_34_bar__plus_01_dot_73 WindowType)\n (objectType KeyChain_bar__minus_02_dot_49_bar__plus_00_dot_40_bar__plus_03_dot_40 KeyChainType)\n (objectType WateringCan_bar__minus_00_dot_21_bar_00_dot_00_bar__plus_03_dot_23 WateringCanType)\n (objectType Box_bar__minus_04_dot_30_bar__plus_00_dot_59_bar__plus_04_dot_63 BoxType)\n (objectType DeskLamp_bar__minus_00_dot_26_bar__plus_00_dot_62_bar__plus_03_dot_31 DeskLampType)\n (objectType RemoteControl_bar__minus_01_dot_59_bar__plus_00_dot_76_bar__plus_00_dot_85 RemoteControlType)\n (objectType HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_62_bar__plus_03_dot_99 HousePlantType)\n (objectType RemoteControl_bar__minus_02_dot_14_bar__plus_00_dot_84_bar__plus_06_dot_83 RemoteControlType)\n (objectType Pillow_bar__minus_04_dot_30_bar__plus_00_dot_55_bar__plus_05_dot_33 PillowType)\n (objectType Watch_bar__minus_01_dot_17_bar__plus_00_dot_76_bar__plus_01_dot_41 WatchType)\n (objectType RemoteControl_bar__minus_02_dot_57_bar__plus_00_dot_40_bar__plus_03_dot_55 RemoteControlType)\n (objectType Watch_bar__minus_03_dot_48_bar__plus_00_dot_38_bar__plus_06_dot_70 WatchType)\n (objectType Statue_bar__minus_01_dot_73_bar__plus_00_dot_76_bar__plus_01_dot_41 StatueType)\n (objectType Laptop_bar__minus_02_dot_49_bar__plus_00_dot_46_bar__plus_03_dot_63 LaptopType)\n (objectType Curtains_bar__minus_00_dot_04_bar__plus_02_dot_15_bar__plus_01_dot_00 CurtainsType)\n (objectType Painting_bar__minus_00_dot_02_bar__plus_02_dot_06_bar__plus_05_dot_38 PaintingType)\n (canContain SideTableType WatchType)\n (canContain SideTableType BoxType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType StatueType)\n (canContain SideTableType WateringCanType)\n (canContain OttomanType BoxType)\n (canContain OttomanType LaptopType)\n (canContain OttomanType PillowType)\n (canContain OttomanType RemoteControlType)\n (canContain OttomanType KeyChainType)\n (canContain OttomanType CreditCardType)\n (canContain SofaType BoxType)\n (canContain SofaType LaptopType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType KeyChainType)\n (canContain SofaType CreditCardType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType CreditCardType)\n (canContain DrawerType WatchType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType WatchType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType WatchType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType CreditCardType)\n (canContain DrawerType WatchType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain SideTableType WatchType)\n (canContain SideTableType BoxType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType StatueType)\n (canContain SideTableType WateringCanType)\n (canContain SideTableType WatchType)\n (canContain SideTableType BoxType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType StatueType)\n (canContain SideTableType WateringCanType)\n (canContain DresserType WatchType)\n (canContain DresserType BoxType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType LaptopType)\n (canContain DresserType RemoteControlType)\n (canContain DresserType StatueType)\n (canContain DresserType WateringCanType)\n (canContain DiningTableType WatchType)\n (canContain DiningTableType BoxType)\n (canContain DiningTableType KeyChainType)\n (canContain DiningTableType CreditCardType)\n (canContain DiningTableType LaptopType)\n (canContain DiningTableType RemoteControlType)\n (canContain DiningTableType StatueType)\n (canContain DiningTableType WateringCanType)\n (pickupable Statue_bar__minus_01_dot_17_bar__plus_00_dot_76_bar__plus_00_dot_99)\n (pickupable KeyChain_bar__minus_02_dot_20_bar__plus_00_dot_84_bar__plus_06_dot_83)\n (pickupable CreditCard_bar__minus_00_dot_41_bar__plus_00_dot_63_bar__plus_03_dot_63)\n (pickupable Laptop_bar__minus_04_dot_38_bar__plus_00_dot_48_bar__plus_05_dot_79)\n (pickupable KeyChain_bar__minus_02_dot_49_bar__plus_00_dot_40_bar__plus_03_dot_40)\n (pickupable WateringCan_bar__minus_00_dot_21_bar_00_dot_00_bar__plus_03_dot_23)\n (pickupable Box_bar__minus_04_dot_30_bar__plus_00_dot_59_bar__plus_04_dot_63)\n (pickupable RemoteControl_bar__minus_01_dot_59_bar__plus_00_dot_76_bar__plus_00_dot_85)\n (pickupable RemoteControl_bar__minus_02_dot_14_bar__plus_00_dot_84_bar__plus_06_dot_83)\n (pickupable Pillow_bar__minus_04_dot_30_bar__plus_00_dot_55_bar__plus_05_dot_33)\n (pickupable Watch_bar__minus_01_dot_17_bar__plus_00_dot_76_bar__plus_01_dot_41)\n (pickupable RemoteControl_bar__minus_02_dot_57_bar__plus_00_dot_40_bar__plus_03_dot_55)\n (pickupable Watch_bar__minus_03_dot_48_bar__plus_00_dot_38_bar__plus_06_dot_70)\n (pickupable Statue_bar__minus_01_dot_73_bar__plus_00_dot_76_bar__plus_01_dot_41)\n (pickupable Laptop_bar__minus_02_dot_49_bar__plus_00_dot_46_bar__plus_03_dot_63)\n (isReceptacleObject Box_bar__minus_04_dot_30_bar__plus_00_dot_59_bar__plus_04_dot_63)\n (openable Drawer_bar__minus_03_dot_48_bar__plus_00_dot_16_bar__plus_06_dot_71)\n (openable Drawer_bar__minus_03_dot_48_bar__plus_00_dot_47_bar__plus_06_dot_71)\n (openable Drawer_bar__minus_02_dot_93_bar__plus_00_dot_47_bar__plus_06_dot_71)\n (openable Drawer_bar__minus_02_dot_93_bar__plus_00_dot_16_bar__plus_06_dot_71)\n \n (atLocation agent1 loc_bar__minus_7_bar_1_bar_3_bar_30)\n \n \n \n \n \n \n \n (toggleable FloorLamp_bar__minus_04_dot_72_bar__plus_00_dot_00_bar__plus_03_dot_69)\n (toggleable DeskLamp_bar__minus_00_dot_26_bar__plus_00_dot_62_bar__plus_03_dot_31)\n \n \n \n \n (inReceptacle Statue_bar__minus_01_dot_73_bar__plus_00_dot_76_bar__plus_01_dot_41 DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27)\n (inReceptacle RemoteControl_bar__minus_01_dot_59_bar__plus_00_dot_76_bar__plus_00_dot_85 DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27)\n (inReceptacle Statue_bar__minus_01_dot_17_bar__plus_00_dot_76_bar__plus_00_dot_99 DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27)\n (inReceptacle Watch_bar__minus_01_dot_17_bar__plus_00_dot_76_bar__plus_01_dot_41 DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27)\n (inReceptacle KeyChain_bar__minus_02_dot_20_bar__plus_00_dot_84_bar__plus_06_dot_83 SideTable_bar__minus_02_dot_07_bar_00_dot_00_bar__plus_06_dot_70)\n (inReceptacle RemoteControl_bar__minus_02_dot_14_bar__plus_00_dot_84_bar__plus_06_dot_83 SideTable_bar__minus_02_dot_07_bar_00_dot_00_bar__plus_06_dot_70)\n (inReceptacle DeskLamp_bar__minus_00_dot_26_bar__plus_00_dot_62_bar__plus_03_dot_31 SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_52)\n (inReceptacle CreditCard_bar__minus_00_dot_41_bar__plus_00_dot_63_bar__plus_03_dot_63 SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_52)\n (inReceptacle HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_62_bar__plus_03_dot_99 SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_52)\n (inReceptacle Watch_bar__minus_03_dot_48_bar__plus_00_dot_38_bar__plus_06_dot_70 Drawer_bar__minus_03_dot_48_bar__plus_00_dot_47_bar__plus_06_dot_71)\n (inReceptacle Television_bar__minus_03_dot_19_bar__plus_01_dot_18_bar__plus_06_dot_78 Dresser_bar__minus_03_dot_20_bar__minus_00_dot_01_bar__plus_06_dot_79)\n (inReceptacle Laptop_bar__minus_02_dot_49_bar__plus_00_dot_46_bar__plus_03_dot_63 ArmChair_bar__minus_02_dot_45_bar__plus_00_dot_01_bar__plus_03_dot_50)\n (inReceptacle Pillow_bar__minus_04_dot_30_bar__plus_00_dot_55_bar__plus_05_dot_33 Sofa_bar__minus_04_dot_43_bar__plus_00_dot_01_bar__plus_05_dot_06)\n (inReceptacle Laptop_bar__minus_04_dot_38_bar__plus_00_dot_48_bar__plus_05_dot_79 Sofa_bar__minus_04_dot_43_bar__plus_00_dot_01_bar__plus_05_dot_06)\n (inReceptacle Box_bar__minus_04_dot_30_bar__plus_00_dot_59_bar__plus_04_dot_63 Sofa_bar__minus_04_dot_43_bar__plus_00_dot_01_bar__plus_05_dot_06)\n \n \n (receptacleAtLocation ArmChair_bar__minus_02_dot_45_bar__plus_00_dot_01_bar__plus_03_dot_50 loc_bar__minus_10_bar_10_bar_0_bar_60)\n (receptacleAtLocation ArmChair_bar__minus_03_dot_55_bar__plus_00_dot_00_bar__plus_03_dot_58 loc_bar__minus_15_bar_18_bar_2_bar_60)\n (receptacleAtLocation DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27 loc_bar__minus_6_bar_9_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_02_dot_93_bar__plus_00_dot_16_bar__plus_06_dot_71 loc_bar__minus_14_bar_22_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_93_bar__plus_00_dot_47_bar__plus_06_dot_71 loc_bar__minus_10_bar_23_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_03_dot_48_bar__plus_00_dot_16_bar__plus_06_dot_71 loc_bar__minus_12_bar_22_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_03_dot_48_bar__plus_00_dot_47_bar__plus_06_dot_71 loc_bar__minus_12_bar_23_bar_0_bar_45)\n (receptacleAtLocation Dresser_bar__minus_03_dot_20_bar__minus_00_dot_01_bar__plus_06_dot_79 loc_bar__minus_13_bar_24_bar_0_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_26_bar__plus_00_dot_00_bar__plus_06_dot_80 loc_bar__minus_3_bar_26_bar_1_bar_60)\n (receptacleAtLocation Ottoman_bar__minus_02_dot_43_bar__plus_00_dot_03_bar__plus_04_dot_41 loc_bar__minus_10_bar_20_bar_2_bar_60)\n (receptacleAtLocation SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_52 loc_bar__minus_4_bar_14_bar_1_bar_60)\n (receptacleAtLocation SideTable_bar__minus_02_dot_07_bar_00_dot_00_bar__plus_06_dot_70 loc_bar__minus_7_bar_24_bar_0_bar_60)\n (receptacleAtLocation SideTable_bar__minus_04_dot_19_bar_00_dot_00_bar__plus_03_dot_59 loc_bar__minus_15_bar_11_bar_0_bar_60)\n (receptacleAtLocation Sofa_bar__minus_04_dot_43_bar__plus_00_dot_01_bar__plus_05_dot_06 loc_bar__minus_13_bar_21_bar_3_bar_60)\n (objectAtLocation RemoteControl_bar__minus_02_dot_14_bar__plus_00_dot_84_bar__plus_06_dot_83 loc_bar__minus_7_bar_24_bar_0_bar_60)\n (objectAtLocation KeyChain_bar__minus_02_dot_49_bar__plus_00_dot_40_bar__plus_03_dot_40 loc_bar__minus_10_bar_11_bar_0_bar_60)\n (objectAtLocation Laptop_bar__minus_04_dot_38_bar__plus_00_dot_48_bar__plus_05_dot_79 loc_bar__minus_13_bar_21_bar_3_bar_60)\n (objectAtLocation Watch_bar__minus_03_dot_48_bar__plus_00_dot_38_bar__plus_06_dot_70 loc_bar__minus_12_bar_23_bar_0_bar_45)\n (objectAtLocation Statue_bar__minus_01_dot_17_bar__plus_00_dot_76_bar__plus_00_dot_99 loc_bar__minus_6_bar_9_bar_2_bar_60)\n (objectAtLocation RemoteControl_bar__minus_02_dot_57_bar__plus_00_dot_40_bar__plus_03_dot_55 loc_bar__minus_10_bar_11_bar_0_bar_60)\n (objectAtLocation Curtains_bar__minus_00_dot_04_bar__plus_02_dot_15_bar__plus_01_dot_00 loc_bar__minus_3_bar_3_bar_1_bar__minus_30)\n (objectAtLocation Box_bar__minus_04_dot_30_bar__plus_00_dot_59_bar__plus_04_dot_63 loc_bar__minus_13_bar_21_bar_3_bar_60)\n (objectAtLocation Chair_bar__minus_01_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_78 loc_bar__minus_9_bar_2_bar_1_bar_60)\n (objectAtLocation Chair_bar__minus_02_dot_15_bar__plus_00_dot_00_bar__plus_01_dot_29 loc_bar__minus_11_bar_5_bar_1_bar_60)\n (objectAtLocation Painting_bar__minus_00_dot_02_bar__plus_02_dot_06_bar__plus_05_dot_38 loc_bar__minus_3_bar_22_bar_1_bar__minus_30)\n (objectAtLocation Chair_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_01_dot_78 loc_bar__minus_6_bar_9_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_01_dot_08_bar__plus_00_dot_00_bar__plus_01_dot_29 loc_bar__minus_2_bar_6_bar_3_bar_60)\n (objectAtLocation Statue_bar__minus_01_dot_73_bar__plus_00_dot_76_bar__plus_01_dot_41 loc_bar__minus_6_bar_9_bar_2_bar_60)\n (objectAtLocation Watch_bar__minus_01_dot_17_bar__plus_00_dot_76_bar__plus_01_dot_41 loc_bar__minus_6_bar_9_bar_2_bar_60)\n (objectAtLocation FloorLamp_bar__minus_04_dot_72_bar__plus_00_dot_00_bar__plus_03_dot_69 loc_bar__minus_18_bar_12_bar_0_bar_60)\n (objectAtLocation WateringCan_bar__minus_00_dot_21_bar_00_dot_00_bar__plus_03_dot_23 loc_bar__minus_3_bar_13_bar_1_bar_60)\n (objectAtLocation Laptop_bar__minus_02_dot_49_bar__plus_00_dot_46_bar__plus_03_dot_63 loc_bar__minus_10_bar_10_bar_0_bar_60)\n (objectAtLocation Television_bar__minus_03_dot_19_bar__plus_01_dot_18_bar__plus_06_dot_78 loc_bar__minus_13_bar_24_bar_0_bar_60)\n (objectAtLocation CreditCard_bar__minus_00_dot_41_bar__plus_00_dot_63_bar__plus_03_dot_63 loc_bar__minus_4_bar_14_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__minus_02_dot_20_bar__plus_00_dot_84_bar__plus_06_dot_83 loc_bar__minus_7_bar_24_bar_0_bar_60)\n (objectAtLocation HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_62_bar__plus_03_dot_99 loc_bar__minus_4_bar_14_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__minus_03_dot_48_bar__plus_01_dot_47_bar__plus_00_dot_00 loc_bar__minus_14_bar_2_bar_2_bar_15)\n (objectAtLocation Pillow_bar__minus_04_dot_30_bar__plus_00_dot_55_bar__plus_05_dot_33 loc_bar__minus_13_bar_21_bar_3_bar_60)\n (objectAtLocation RemoteControl_bar__minus_01_dot_59_bar__plus_00_dot_76_bar__plus_00_dot_85 loc_bar__minus_6_bar_9_bar_2_bar_60)\n (objectAtLocation DeskLamp_bar__minus_00_dot_26_bar__plus_00_dot_62_bar__plus_03_dot_31 loc_bar__minus_4_bar_14_bar_1_bar_60)\n (objectAtLocation Window_bar__minus_00_dot_01_bar__plus_01_dot_34_bar__plus_01_dot_73 loc_bar__minus_2_bar_7_bar_1_bar_30)\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 WatchType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 1", "take watch 2 from diningtable 1", "go to sidetable 3", "use desklamp 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Watch-None-DeskLamp-205/trial_T20190907_001919_953335/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Watch-None-DeskLamp-205/trial_T20190907_001919_953335/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..feb46f60d5e1747e29faedb43a8d85af135b896a --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Watch-None-DeskLamp-205/trial_T20190907_001919_953335/initial_state.pddl @@ -0,0 +1,514 @@ + +(define (problem plan_trial_T20190907_001919_953335) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_30_bar__plus_00_dot_59_bar__plus_04_dot_63 - object + Chair_bar__minus_01_dot_08_bar__plus_00_dot_00_bar__plus_01_dot_29 - object + Chair_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_01_dot_78 - object + Chair_bar__minus_01_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_78 - object + Chair_bar__minus_02_dot_15_bar__plus_00_dot_00_bar__plus_01_dot_29 - object + CreditCard_bar__minus_00_dot_41_bar__plus_00_dot_63_bar__plus_03_dot_63 - object + Curtains_bar__minus_00_dot_04_bar__plus_02_dot_15_bar__plus_01_dot_00 - object + DeskLamp_bar__minus_00_dot_26_bar__plus_00_dot_62_bar__plus_03_dot_31 - object + FloorLamp_bar__minus_04_dot_72_bar__plus_00_dot_00_bar__plus_03_dot_69 - object + HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_62_bar__plus_03_dot_99 - object + KeyChain_bar__minus_02_dot_20_bar__plus_00_dot_84_bar__plus_06_dot_83 - object + KeyChain_bar__minus_02_dot_49_bar__plus_00_dot_40_bar__plus_03_dot_40 - object + Laptop_bar__minus_02_dot_49_bar__plus_00_dot_46_bar__plus_03_dot_63 - object + Laptop_bar__minus_04_dot_38_bar__plus_00_dot_48_bar__plus_05_dot_79 - object + LightSwitch_bar__minus_03_dot_48_bar__plus_01_dot_47_bar__plus_00_dot_00 - object + Painting_bar__minus_00_dot_02_bar__plus_02_dot_06_bar__plus_05_dot_38 - object + Pillow_bar__minus_04_dot_30_bar__plus_00_dot_55_bar__plus_05_dot_33 - object + RemoteControl_bar__minus_01_dot_59_bar__plus_00_dot_76_bar__plus_00_dot_85 - object + RemoteControl_bar__minus_02_dot_14_bar__plus_00_dot_84_bar__plus_06_dot_83 - object + RemoteControl_bar__minus_02_dot_57_bar__plus_00_dot_40_bar__plus_03_dot_55 - object + Statue_bar__minus_01_dot_17_bar__plus_00_dot_76_bar__plus_00_dot_99 - object + Statue_bar__minus_01_dot_73_bar__plus_00_dot_76_bar__plus_01_dot_41 - object + Television_bar__minus_03_dot_19_bar__plus_01_dot_18_bar__plus_06_dot_78 - object + Watch_bar__minus_01_dot_17_bar__plus_00_dot_76_bar__plus_01_dot_41 - object + Watch_bar__minus_03_dot_48_bar__plus_00_dot_38_bar__plus_06_dot_70 - object + WateringCan_bar__minus_00_dot_21_bar_00_dot_00_bar__plus_03_dot_23 - object + Window_bar__minus_00_dot_01_bar__plus_01_dot_34_bar__plus_01_dot_73 - object + ArmChair_bar__minus_02_dot_45_bar__plus_00_dot_01_bar__plus_03_dot_50 - receptacle + ArmChair_bar__minus_03_dot_55_bar__plus_00_dot_00_bar__plus_03_dot_58 - receptacle + DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27 - receptacle + Drawer_bar__minus_02_dot_93_bar__plus_00_dot_16_bar__plus_06_dot_71 - receptacle + Drawer_bar__minus_02_dot_93_bar__plus_00_dot_47_bar__plus_06_dot_71 - receptacle + Drawer_bar__minus_03_dot_48_bar__plus_00_dot_16_bar__plus_06_dot_71 - receptacle + Drawer_bar__minus_03_dot_48_bar__plus_00_dot_47_bar__plus_06_dot_71 - receptacle + Dresser_bar__minus_03_dot_20_bar__minus_00_dot_01_bar__plus_06_dot_79 - receptacle + GarbageCan_bar__minus_00_dot_26_bar__plus_00_dot_00_bar__plus_06_dot_80 - receptacle + Ottoman_bar__minus_02_dot_43_bar__plus_00_dot_03_bar__plus_04_dot_41 - receptacle + SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_52 - receptacle + SideTable_bar__minus_02_dot_07_bar_00_dot_00_bar__plus_06_dot_70 - receptacle + SideTable_bar__minus_04_dot_19_bar_00_dot_00_bar__plus_03_dot_59 - receptacle + Sofa_bar__minus_04_dot_43_bar__plus_00_dot_01_bar__plus_05_dot_06 - receptacle + loc_bar__minus_15_bar_18_bar_2_bar_60 - location + loc_bar__minus_12_bar_23_bar_0_bar_45 - location + loc_bar__minus_18_bar_12_bar_0_bar_60 - location + loc_bar__minus_13_bar_24_bar_0_bar_60 - location + loc_bar__minus_7_bar_24_bar_0_bar_60 - location + loc_bar__minus_10_bar_23_bar_0_bar_45 - location + loc_bar__minus_11_bar_5_bar_1_bar_60 - location + loc_bar__minus_3_bar_26_bar_1_bar_60 - location + loc_bar__minus_6_bar_9_bar_2_bar_60 - location + loc_bar__minus_4_bar_14_bar_1_bar_60 - location + loc_bar__minus_13_bar_21_bar_3_bar_60 - location + loc_bar__minus_9_bar_2_bar_1_bar_60 - location + loc_bar__minus_3_bar_3_bar_1_bar__minus_30 - location + loc_bar__minus_10_bar_20_bar_2_bar_60 - location + loc_bar__minus_10_bar_11_bar_0_bar_60 - location + loc_bar__minus_12_bar_22_bar_0_bar_45 - location + loc_bar__minus_2_bar_6_bar_3_bar_60 - location + loc_bar__minus_14_bar_2_bar_2_bar_15 - location + loc_bar__minus_14_bar_22_bar_0_bar_45 - location + loc_bar__minus_15_bar_11_bar_0_bar_60 - location + loc_bar__minus_3_bar_22_bar_1_bar__minus_30 - location + loc_bar__minus_2_bar_7_bar_1_bar_30 - location + loc_bar__minus_3_bar_13_bar_1_bar_60 - location + loc_bar__minus_10_bar_10_bar_0_bar_60 - location + loc_bar__minus_7_bar_1_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType GarbageCan_bar__minus_00_dot_26_bar__plus_00_dot_00_bar__plus_06_dot_80 GarbageCanType) + (receptacleType SideTable_bar__minus_02_dot_07_bar_00_dot_00_bar__plus_06_dot_70 SideTableType) + (receptacleType Ottoman_bar__minus_02_dot_43_bar__plus_00_dot_03_bar__plus_04_dot_41 OttomanType) + (receptacleType Sofa_bar__minus_04_dot_43_bar__plus_00_dot_01_bar__plus_05_dot_06 SofaType) + (receptacleType ArmChair_bar__minus_03_dot_55_bar__plus_00_dot_00_bar__plus_03_dot_58 ArmChairType) + (receptacleType Drawer_bar__minus_03_dot_48_bar__plus_00_dot_16_bar__plus_06_dot_71 DrawerType) + (receptacleType Drawer_bar__minus_03_dot_48_bar__plus_00_dot_47_bar__plus_06_dot_71 DrawerType) + (receptacleType Drawer_bar__minus_02_dot_93_bar__plus_00_dot_47_bar__plus_06_dot_71 DrawerType) + (receptacleType ArmChair_bar__minus_02_dot_45_bar__plus_00_dot_01_bar__plus_03_dot_50 ArmChairType) + (receptacleType Drawer_bar__minus_02_dot_93_bar__plus_00_dot_16_bar__plus_06_dot_71 DrawerType) + (receptacleType SideTable_bar__minus_04_dot_19_bar_00_dot_00_bar__plus_03_dot_59 SideTableType) + (receptacleType SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_52 SideTableType) + (receptacleType Dresser_bar__minus_03_dot_20_bar__minus_00_dot_01_bar__plus_06_dot_79 DresserType) + (receptacleType DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27 DiningTableType) + (objectType Statue_bar__minus_01_dot_17_bar__plus_00_dot_76_bar__plus_00_dot_99 StatueType) + (objectType Chair_bar__minus_01_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_78 ChairType) + (objectType KeyChain_bar__minus_02_dot_20_bar__plus_00_dot_84_bar__plus_06_dot_83 KeyChainType) + (objectType FloorLamp_bar__minus_04_dot_72_bar__plus_00_dot_00_bar__plus_03_dot_69 FloorLampType) + (objectType Chair_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_01_dot_78 ChairType) + (objectType Chair_bar__minus_01_dot_08_bar__plus_00_dot_00_bar__plus_01_dot_29 ChairType) + (objectType CreditCard_bar__minus_00_dot_41_bar__plus_00_dot_63_bar__plus_03_dot_63 CreditCardType) + (objectType LightSwitch_bar__minus_03_dot_48_bar__plus_01_dot_47_bar__plus_00_dot_00 LightSwitchType) + (objectType Laptop_bar__minus_04_dot_38_bar__plus_00_dot_48_bar__plus_05_dot_79 LaptopType) + (objectType Chair_bar__minus_02_dot_15_bar__plus_00_dot_00_bar__plus_01_dot_29 ChairType) + (objectType Television_bar__minus_03_dot_19_bar__plus_01_dot_18_bar__plus_06_dot_78 TelevisionType) + (objectType Window_bar__minus_00_dot_01_bar__plus_01_dot_34_bar__plus_01_dot_73 WindowType) + (objectType KeyChain_bar__minus_02_dot_49_bar__plus_00_dot_40_bar__plus_03_dot_40 KeyChainType) + (objectType WateringCan_bar__minus_00_dot_21_bar_00_dot_00_bar__plus_03_dot_23 WateringCanType) + (objectType Box_bar__minus_04_dot_30_bar__plus_00_dot_59_bar__plus_04_dot_63 BoxType) + (objectType DeskLamp_bar__minus_00_dot_26_bar__plus_00_dot_62_bar__plus_03_dot_31 DeskLampType) + (objectType RemoteControl_bar__minus_01_dot_59_bar__plus_00_dot_76_bar__plus_00_dot_85 RemoteControlType) + (objectType HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_62_bar__plus_03_dot_99 HousePlantType) + (objectType RemoteControl_bar__minus_02_dot_14_bar__plus_00_dot_84_bar__plus_06_dot_83 RemoteControlType) + (objectType Pillow_bar__minus_04_dot_30_bar__plus_00_dot_55_bar__plus_05_dot_33 PillowType) + (objectType Watch_bar__minus_01_dot_17_bar__plus_00_dot_76_bar__plus_01_dot_41 WatchType) + (objectType RemoteControl_bar__minus_02_dot_57_bar__plus_00_dot_40_bar__plus_03_dot_55 RemoteControlType) + (objectType Watch_bar__minus_03_dot_48_bar__plus_00_dot_38_bar__plus_06_dot_70 WatchType) + (objectType Statue_bar__minus_01_dot_73_bar__plus_00_dot_76_bar__plus_01_dot_41 StatueType) + (objectType Laptop_bar__minus_02_dot_49_bar__plus_00_dot_46_bar__plus_03_dot_63 LaptopType) + (objectType Curtains_bar__minus_00_dot_04_bar__plus_02_dot_15_bar__plus_01_dot_00 CurtainsType) + (objectType Painting_bar__minus_00_dot_02_bar__plus_02_dot_06_bar__plus_05_dot_38 PaintingType) + (canContain SideTableType WatchType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType StatueType) + (canContain SideTableType WateringCanType) + (canContain OttomanType BoxType) + (canContain OttomanType LaptopType) + (canContain OttomanType PillowType) + (canContain OttomanType RemoteControlType) + (canContain OttomanType KeyChainType) + (canContain OttomanType CreditCardType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType CreditCardType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain DrawerType WatchType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain DrawerType WatchType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain DrawerType WatchType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain DrawerType WatchType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain SideTableType WatchType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType StatueType) + (canContain SideTableType WateringCanType) + (canContain SideTableType WatchType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType StatueType) + (canContain SideTableType WateringCanType) + (canContain DresserType WatchType) + (canContain DresserType BoxType) + (canContain DresserType KeyChainType) + (canContain DresserType CreditCardType) + (canContain DresserType LaptopType) + (canContain DresserType RemoteControlType) + (canContain DresserType StatueType) + (canContain DresserType WateringCanType) + (canContain DiningTableType WatchType) + (canContain DiningTableType BoxType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType StatueType) + (canContain DiningTableType WateringCanType) + (pickupable Statue_bar__minus_01_dot_17_bar__plus_00_dot_76_bar__plus_00_dot_99) + (pickupable KeyChain_bar__minus_02_dot_20_bar__plus_00_dot_84_bar__plus_06_dot_83) + (pickupable CreditCard_bar__minus_00_dot_41_bar__plus_00_dot_63_bar__plus_03_dot_63) + (pickupable Laptop_bar__minus_04_dot_38_bar__plus_00_dot_48_bar__plus_05_dot_79) + (pickupable KeyChain_bar__minus_02_dot_49_bar__plus_00_dot_40_bar__plus_03_dot_40) + (pickupable WateringCan_bar__minus_00_dot_21_bar_00_dot_00_bar__plus_03_dot_23) + (pickupable Box_bar__minus_04_dot_30_bar__plus_00_dot_59_bar__plus_04_dot_63) + (pickupable RemoteControl_bar__minus_01_dot_59_bar__plus_00_dot_76_bar__plus_00_dot_85) + (pickupable RemoteControl_bar__minus_02_dot_14_bar__plus_00_dot_84_bar__plus_06_dot_83) + (pickupable Pillow_bar__minus_04_dot_30_bar__plus_00_dot_55_bar__plus_05_dot_33) + (pickupable Watch_bar__minus_01_dot_17_bar__plus_00_dot_76_bar__plus_01_dot_41) + (pickupable RemoteControl_bar__minus_02_dot_57_bar__plus_00_dot_40_bar__plus_03_dot_55) + (pickupable Watch_bar__minus_03_dot_48_bar__plus_00_dot_38_bar__plus_06_dot_70) + (pickupable Statue_bar__minus_01_dot_73_bar__plus_00_dot_76_bar__plus_01_dot_41) + (pickupable Laptop_bar__minus_02_dot_49_bar__plus_00_dot_46_bar__plus_03_dot_63) + (isReceptacleObject Box_bar__minus_04_dot_30_bar__plus_00_dot_59_bar__plus_04_dot_63) + (openable Drawer_bar__minus_03_dot_48_bar__plus_00_dot_16_bar__plus_06_dot_71) + (openable Drawer_bar__minus_03_dot_48_bar__plus_00_dot_47_bar__plus_06_dot_71) + (openable Drawer_bar__minus_02_dot_93_bar__plus_00_dot_47_bar__plus_06_dot_71) + (openable Drawer_bar__minus_02_dot_93_bar__plus_00_dot_16_bar__plus_06_dot_71) + + (atLocation agent1 loc_bar__minus_7_bar_1_bar_3_bar_30) + + + + + + + + (toggleable FloorLamp_bar__minus_04_dot_72_bar__plus_00_dot_00_bar__plus_03_dot_69) + (toggleable DeskLamp_bar__minus_00_dot_26_bar__plus_00_dot_62_bar__plus_03_dot_31) + + + + + (inReceptacle Statue_bar__minus_01_dot_73_bar__plus_00_dot_76_bar__plus_01_dot_41 DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27) + (inReceptacle RemoteControl_bar__minus_01_dot_59_bar__plus_00_dot_76_bar__plus_00_dot_85 DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27) + (inReceptacle Statue_bar__minus_01_dot_17_bar__plus_00_dot_76_bar__plus_00_dot_99 DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27) + (inReceptacle Watch_bar__minus_01_dot_17_bar__plus_00_dot_76_bar__plus_01_dot_41 DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27) + (inReceptacle KeyChain_bar__minus_02_dot_20_bar__plus_00_dot_84_bar__plus_06_dot_83 SideTable_bar__minus_02_dot_07_bar_00_dot_00_bar__plus_06_dot_70) + (inReceptacle RemoteControl_bar__minus_02_dot_14_bar__plus_00_dot_84_bar__plus_06_dot_83 SideTable_bar__minus_02_dot_07_bar_00_dot_00_bar__plus_06_dot_70) + (inReceptacle DeskLamp_bar__minus_00_dot_26_bar__plus_00_dot_62_bar__plus_03_dot_31 SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_52) + (inReceptacle CreditCard_bar__minus_00_dot_41_bar__plus_00_dot_63_bar__plus_03_dot_63 SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_52) + (inReceptacle HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_62_bar__plus_03_dot_99 SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_52) + (inReceptacle Watch_bar__minus_03_dot_48_bar__plus_00_dot_38_bar__plus_06_dot_70 Drawer_bar__minus_03_dot_48_bar__plus_00_dot_47_bar__plus_06_dot_71) + (inReceptacle Television_bar__minus_03_dot_19_bar__plus_01_dot_18_bar__plus_06_dot_78 Dresser_bar__minus_03_dot_20_bar__minus_00_dot_01_bar__plus_06_dot_79) + (inReceptacle Laptop_bar__minus_02_dot_49_bar__plus_00_dot_46_bar__plus_03_dot_63 ArmChair_bar__minus_02_dot_45_bar__plus_00_dot_01_bar__plus_03_dot_50) + (inReceptacle Pillow_bar__minus_04_dot_30_bar__plus_00_dot_55_bar__plus_05_dot_33 Sofa_bar__minus_04_dot_43_bar__plus_00_dot_01_bar__plus_05_dot_06) + (inReceptacle Laptop_bar__minus_04_dot_38_bar__plus_00_dot_48_bar__plus_05_dot_79 Sofa_bar__minus_04_dot_43_bar__plus_00_dot_01_bar__plus_05_dot_06) + (inReceptacle Box_bar__minus_04_dot_30_bar__plus_00_dot_59_bar__plus_04_dot_63 Sofa_bar__minus_04_dot_43_bar__plus_00_dot_01_bar__plus_05_dot_06) + + + (receptacleAtLocation ArmChair_bar__minus_02_dot_45_bar__plus_00_dot_01_bar__plus_03_dot_50 loc_bar__minus_10_bar_10_bar_0_bar_60) + (receptacleAtLocation ArmChair_bar__minus_03_dot_55_bar__plus_00_dot_00_bar__plus_03_dot_58 loc_bar__minus_15_bar_18_bar_2_bar_60) + (receptacleAtLocation DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27 loc_bar__minus_6_bar_9_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_93_bar__plus_00_dot_16_bar__plus_06_dot_71 loc_bar__minus_14_bar_22_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_93_bar__plus_00_dot_47_bar__plus_06_dot_71 loc_bar__minus_10_bar_23_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_03_dot_48_bar__plus_00_dot_16_bar__plus_06_dot_71 loc_bar__minus_12_bar_22_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_03_dot_48_bar__plus_00_dot_47_bar__plus_06_dot_71 loc_bar__minus_12_bar_23_bar_0_bar_45) + (receptacleAtLocation Dresser_bar__minus_03_dot_20_bar__minus_00_dot_01_bar__plus_06_dot_79 loc_bar__minus_13_bar_24_bar_0_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_26_bar__plus_00_dot_00_bar__plus_06_dot_80 loc_bar__minus_3_bar_26_bar_1_bar_60) + (receptacleAtLocation Ottoman_bar__minus_02_dot_43_bar__plus_00_dot_03_bar__plus_04_dot_41 loc_bar__minus_10_bar_20_bar_2_bar_60) + (receptacleAtLocation SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_52 loc_bar__minus_4_bar_14_bar_1_bar_60) + (receptacleAtLocation SideTable_bar__minus_02_dot_07_bar_00_dot_00_bar__plus_06_dot_70 loc_bar__minus_7_bar_24_bar_0_bar_60) + (receptacleAtLocation SideTable_bar__minus_04_dot_19_bar_00_dot_00_bar__plus_03_dot_59 loc_bar__minus_15_bar_11_bar_0_bar_60) + (receptacleAtLocation Sofa_bar__minus_04_dot_43_bar__plus_00_dot_01_bar__plus_05_dot_06 loc_bar__minus_13_bar_21_bar_3_bar_60) + (objectAtLocation RemoteControl_bar__minus_02_dot_14_bar__plus_00_dot_84_bar__plus_06_dot_83 loc_bar__minus_7_bar_24_bar_0_bar_60) + (objectAtLocation KeyChain_bar__minus_02_dot_49_bar__plus_00_dot_40_bar__plus_03_dot_40 loc_bar__minus_10_bar_11_bar_0_bar_60) + (objectAtLocation Laptop_bar__minus_04_dot_38_bar__plus_00_dot_48_bar__plus_05_dot_79 loc_bar__minus_13_bar_21_bar_3_bar_60) + (objectAtLocation Watch_bar__minus_03_dot_48_bar__plus_00_dot_38_bar__plus_06_dot_70 loc_bar__minus_12_bar_23_bar_0_bar_45) + (objectAtLocation Statue_bar__minus_01_dot_17_bar__plus_00_dot_76_bar__plus_00_dot_99 loc_bar__minus_6_bar_9_bar_2_bar_60) + (objectAtLocation RemoteControl_bar__minus_02_dot_57_bar__plus_00_dot_40_bar__plus_03_dot_55 loc_bar__minus_10_bar_11_bar_0_bar_60) + (objectAtLocation Curtains_bar__minus_00_dot_04_bar__plus_02_dot_15_bar__plus_01_dot_00 loc_bar__minus_3_bar_3_bar_1_bar__minus_30) + (objectAtLocation Box_bar__minus_04_dot_30_bar__plus_00_dot_59_bar__plus_04_dot_63 loc_bar__minus_13_bar_21_bar_3_bar_60) + (objectAtLocation Chair_bar__minus_01_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_78 loc_bar__minus_9_bar_2_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_02_dot_15_bar__plus_00_dot_00_bar__plus_01_dot_29 loc_bar__minus_11_bar_5_bar_1_bar_60) + (objectAtLocation Painting_bar__minus_00_dot_02_bar__plus_02_dot_06_bar__plus_05_dot_38 loc_bar__minus_3_bar_22_bar_1_bar__minus_30) + (objectAtLocation Chair_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_01_dot_78 loc_bar__minus_6_bar_9_bar_2_bar_60) + (objectAtLocation Chair_bar__minus_01_dot_08_bar__plus_00_dot_00_bar__plus_01_dot_29 loc_bar__minus_2_bar_6_bar_3_bar_60) + (objectAtLocation Statue_bar__minus_01_dot_73_bar__plus_00_dot_76_bar__plus_01_dot_41 loc_bar__minus_6_bar_9_bar_2_bar_60) + (objectAtLocation Watch_bar__minus_01_dot_17_bar__plus_00_dot_76_bar__plus_01_dot_41 loc_bar__minus_6_bar_9_bar_2_bar_60) + (objectAtLocation FloorLamp_bar__minus_04_dot_72_bar__plus_00_dot_00_bar__plus_03_dot_69 loc_bar__minus_18_bar_12_bar_0_bar_60) + (objectAtLocation WateringCan_bar__minus_00_dot_21_bar_00_dot_00_bar__plus_03_dot_23 loc_bar__minus_3_bar_13_bar_1_bar_60) + (objectAtLocation Laptop_bar__minus_02_dot_49_bar__plus_00_dot_46_bar__plus_03_dot_63 loc_bar__minus_10_bar_10_bar_0_bar_60) + (objectAtLocation Television_bar__minus_03_dot_19_bar__plus_01_dot_18_bar__plus_06_dot_78 loc_bar__minus_13_bar_24_bar_0_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_41_bar__plus_00_dot_63_bar__plus_03_dot_63 loc_bar__minus_4_bar_14_bar_1_bar_60) + (objectAtLocation KeyChain_bar__minus_02_dot_20_bar__plus_00_dot_84_bar__plus_06_dot_83 loc_bar__minus_7_bar_24_bar_0_bar_60) + (objectAtLocation HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_62_bar__plus_03_dot_99 loc_bar__minus_4_bar_14_bar_1_bar_60) + (objectAtLocation LightSwitch_bar__minus_03_dot_48_bar__plus_01_dot_47_bar__plus_00_dot_00 loc_bar__minus_14_bar_2_bar_2_bar_15) + (objectAtLocation Pillow_bar__minus_04_dot_30_bar__plus_00_dot_55_bar__plus_05_dot_33 loc_bar__minus_13_bar_21_bar_3_bar_60) + (objectAtLocation RemoteControl_bar__minus_01_dot_59_bar__plus_00_dot_76_bar__plus_00_dot_85 loc_bar__minus_6_bar_9_bar_2_bar_60) + (objectAtLocation DeskLamp_bar__minus_00_dot_26_bar__plus_00_dot_62_bar__plus_03_dot_31 loc_bar__minus_4_bar_14_bar_1_bar_60) + (objectAtLocation Window_bar__minus_00_dot_01_bar__plus_01_dot_34_bar__plus_01_dot_73 loc_bar__minus_2_bar_7_bar_1_bar_30) + ) + + + (:goal + (and + (exists (?ot - object + ?r - receptacle + ?a - agent + ?l - location) + (and + (objectType ?ot DeskLampType) + (toggleable ?ot) + (isToggled ?ot) + (receptacleAtLocation ?r ?l) + (atLocation ?a ?l) + (inReceptacle ?ot ?r) + ) + ) + (exists (?o - object + ?a - agent) + (and + (objectType ?o WatchType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Watch-None-DeskLamp-205/trial_T20190907_001919_953335/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Watch-None-DeskLamp-205/trial_T20190907_001919_953335/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..430a38cec0746a1ea4c783582bc5b5f93546cc38 --- 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lamp", + "drop the watch under it and turn on the lamp" + ], + "task_desc": "drop a watch under a bed lamp and turn on the bed 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-Watch-None-DeskLamp-205/trial_T20190907_001948_509721/game.tw-pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Watch-None-DeskLamp-205/trial_T20190907_001948_509721/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..d0c6143ce97be5d1cc82b491e8e99990757173a3 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Watch-None-DeskLamp-205/trial_T20190907_001948_509721/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 watch 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_001948_509721)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Box_bar__minus_01_dot_87_bar__plus_00_dot_87_bar__plus_01_dot_13 - object\n Chair_bar__minus_01_dot_08_bar__plus_00_dot_00_bar__plus_01_dot_29 - object\n Chair_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_01_dot_78 - object\n Chair_bar__minus_01_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_78 - object\n Chair_bar__minus_02_dot_15_bar__plus_00_dot_00_bar__plus_01_dot_29 - object\n CreditCard_bar__minus_03_dot_48_bar__plus_00_dot_38_bar__plus_06_dot_75 - object\n CreditCard_bar__minus_03_dot_48_bar__plus_00_dot_40_bar__plus_03_dot_81 - object\n CreditCard_bar__minus_04_dot_22_bar__plus_00_dot_48_bar__plus_05_dot_33 - object\n Curtains_bar__minus_00_dot_04_bar__plus_02_dot_15_bar__plus_01_dot_00 - object\n DeskLamp_bar__minus_00_dot_26_bar__plus_00_dot_62_bar__plus_03_dot_31 - object\n FloorLamp_bar__minus_04_dot_72_bar__plus_00_dot_00_bar__plus_03_dot_69 - object\n HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_62_bar__plus_03_dot_99 - object\n KeyChain_bar__minus_01_dot_73_bar__plus_00_dot_76_bar__plus_00_dot_85 - object\n KeyChain_bar__minus_02_dot_87_bar__plus_00_dot_07_bar__plus_06_dot_70 - object\n Laptop_bar__minus_01_dot_31_bar__plus_00_dot_75_bar__plus_00_dot_99 - object\n LightSwitch_bar__minus_03_dot_48_bar__plus_01_dot_47_bar__plus_00_dot_00 - object\n Painting_bar__minus_00_dot_02_bar__plus_02_dot_06_bar__plus_05_dot_38 - object\n Pillow_bar__minus_02_dot_49_bar__plus_00_dot_53_bar__plus_03_dot_63 - object\n RemoteControl_bar__minus_02_dot_32_bar__plus_00_dot_40_bar__plus_03_dot_70 - object\n RemoteControl_bar__minus_03_dot_60_bar__plus_00_dot_40_bar__plus_03_dot_75 - object\n RemoteControl_bar__minus_04_dot_22_bar__plus_00_dot_48_bar__plus_05_dot_79 - object\n Statue_bar__minus_02_dot_01_bar__plus_00_dot_85_bar__plus_06_dot_57 - object\n Statue_bar__minus_02_dot_07_bar__plus_00_dot_85_bar__plus_06_dot_83 - object\n Television_bar__minus_03_dot_19_bar__plus_01_dot_18_bar__plus_06_dot_78 - object\n Watch_bar__minus_00_dot_35_bar__plus_00_dot_63_bar__plus_03_dot_13 - object\n Watch_bar__minus_02_dot_27_bar__plus_00_dot_84_bar__plus_06_dot_70 - object\n Watch_bar__minus_03_dot_10_bar__plus_00_dot_07_bar__plus_06_dot_72 - object\n WateringCan_bar__minus_00_dot_21_bar_00_dot_00_bar__plus_03_dot_23 - object\n Window_bar__minus_00_dot_01_bar__plus_01_dot_34_bar__plus_01_dot_73 - object\n ArmChair_bar__minus_02_dot_45_bar__plus_00_dot_01_bar__plus_03_dot_50 - receptacle\n ArmChair_bar__minus_03_dot_55_bar__plus_00_dot_00_bar__plus_03_dot_58 - receptacle\n DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27 - receptacle\n Drawer_bar__minus_02_dot_93_bar__plus_00_dot_16_bar__plus_06_dot_71 - receptacle\n Drawer_bar__minus_02_dot_93_bar__plus_00_dot_47_bar__plus_06_dot_71 - receptacle\n Drawer_bar__minus_03_dot_48_bar__plus_00_dot_16_bar__plus_06_dot_71 - receptacle\n Drawer_bar__minus_03_dot_48_bar__plus_00_dot_47_bar__plus_06_dot_71 - receptacle\n Dresser_bar__minus_03_dot_20_bar__minus_00_dot_01_bar__plus_06_dot_79 - receptacle\n GarbageCan_bar__minus_00_dot_26_bar__plus_00_dot_00_bar__plus_06_dot_80 - receptacle\n Ottoman_bar__minus_02_dot_43_bar__plus_00_dot_03_bar__plus_04_dot_41 - receptacle\n SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_52 - receptacle\n SideTable_bar__minus_02_dot_07_bar_00_dot_00_bar__plus_06_dot_70 - receptacle\n SideTable_bar__minus_04_dot_19_bar_00_dot_00_bar__plus_03_dot_59 - receptacle\n Sofa_bar__minus_04_dot_43_bar__plus_00_dot_01_bar__plus_05_dot_06 - receptacle\n loc_bar__minus_15_bar_18_bar_2_bar_60 - location\n loc_bar__minus_12_bar_23_bar_0_bar_45 - location\n loc_bar__minus_18_bar_12_bar_0_bar_60 - location\n loc_bar__minus_13_bar_24_bar_0_bar_60 - location\n loc_bar__minus_6_bar_15_bar_3_bar_60 - location\n loc_bar__minus_7_bar_24_bar_0_bar_60 - location\n loc_bar__minus_10_bar_23_bar_0_bar_45 - location\n loc_bar__minus_11_bar_5_bar_1_bar_60 - location\n loc_bar__minus_3_bar_26_bar_1_bar_60 - location\n loc_bar__minus_6_bar_9_bar_2_bar_60 - location\n loc_bar__minus_4_bar_14_bar_1_bar_60 - location\n loc_bar__minus_13_bar_21_bar_3_bar_60 - location\n loc_bar__minus_9_bar_2_bar_1_bar_60 - location\n loc_bar__minus_3_bar_3_bar_1_bar__minus_30 - location\n loc_bar__minus_10_bar_20_bar_2_bar_60 - location\n loc_bar__minus_12_bar_22_bar_0_bar_45 - location\n loc_bar__minus_2_bar_6_bar_3_bar_60 - location\n loc_bar__minus_14_bar_2_bar_2_bar_15 - location\n loc_bar__minus_14_bar_22_bar_0_bar_45 - location\n loc_bar__minus_15_bar_11_bar_0_bar_60 - location\n loc_bar__minus_3_bar_22_bar_1_bar__minus_30 - location\n loc_bar__minus_2_bar_7_bar_1_bar_30 - location\n loc_bar__minus_3_bar_13_bar_1_bar_60 - location\n loc_bar__minus_10_bar_10_bar_0_bar_60 - location\n loc_bar__minus_12_bar_3_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType GarbageCan_bar__minus_00_dot_26_bar__plus_00_dot_00_bar__plus_06_dot_80 GarbageCanType)\n (receptacleType SideTable_bar__minus_02_dot_07_bar_00_dot_00_bar__plus_06_dot_70 SideTableType)\n (receptacleType Ottoman_bar__minus_02_dot_43_bar__plus_00_dot_03_bar__plus_04_dot_41 OttomanType)\n (receptacleType Sofa_bar__minus_04_dot_43_bar__plus_00_dot_01_bar__plus_05_dot_06 SofaType)\n (receptacleType ArmChair_bar__minus_03_dot_55_bar__plus_00_dot_00_bar__plus_03_dot_58 ArmChairType)\n (receptacleType Drawer_bar__minus_03_dot_48_bar__plus_00_dot_16_bar__plus_06_dot_71 DrawerType)\n (receptacleType Drawer_bar__minus_03_dot_48_bar__plus_00_dot_47_bar__plus_06_dot_71 DrawerType)\n (receptacleType Drawer_bar__minus_02_dot_93_bar__plus_00_dot_47_bar__plus_06_dot_71 DrawerType)\n (receptacleType ArmChair_bar__minus_02_dot_45_bar__plus_00_dot_01_bar__plus_03_dot_50 ArmChairType)\n (receptacleType Drawer_bar__minus_02_dot_93_bar__plus_00_dot_16_bar__plus_06_dot_71 DrawerType)\n (receptacleType SideTable_bar__minus_04_dot_19_bar_00_dot_00_bar__plus_03_dot_59 SideTableType)\n (receptacleType SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_52 SideTableType)\n (receptacleType Dresser_bar__minus_03_dot_20_bar__minus_00_dot_01_bar__plus_06_dot_79 DresserType)\n (receptacleType DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27 DiningTableType)\n (objectType Chair_bar__minus_01_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_78 ChairType)\n (objectType KeyChain_bar__minus_01_dot_73_bar__plus_00_dot_76_bar__plus_00_dot_85 KeyChainType)\n (objectType Watch_bar__minus_00_dot_35_bar__plus_00_dot_63_bar__plus_03_dot_13 WatchType)\n (objectType FloorLamp_bar__minus_04_dot_72_bar__plus_00_dot_00_bar__plus_03_dot_69 FloorLampType)\n (objectType Chair_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_01_dot_78 ChairType)\n (objectType Chair_bar__minus_01_dot_08_bar__plus_00_dot_00_bar__plus_01_dot_29 ChairType)\n (objectType Pillow_bar__minus_02_dot_49_bar__plus_00_dot_53_bar__plus_03_dot_63 PillowType)\n (objectType LightSwitch_bar__minus_03_dot_48_bar__plus_01_dot_47_bar__plus_00_dot_00 LightSwitchType)\n (objectType RemoteControl_bar__minus_04_dot_22_bar__plus_00_dot_48_bar__plus_05_dot_79 RemoteControlType)\n (objectType Laptop_bar__minus_01_dot_31_bar__plus_00_dot_75_bar__plus_00_dot_99 LaptopType)\n (objectType Chair_bar__minus_02_dot_15_bar__plus_00_dot_00_bar__plus_01_dot_29 ChairType)\n (objectType Television_bar__minus_03_dot_19_bar__plus_01_dot_18_bar__plus_06_dot_78 TelevisionType)\n (objectType Window_bar__minus_00_dot_01_bar__plus_01_dot_34_bar__plus_01_dot_73 WindowType)\n (objectType KeyChain_bar__minus_02_dot_87_bar__plus_00_dot_07_bar__plus_06_dot_70 KeyChainType)\n (objectType RemoteControl_bar__minus_03_dot_60_bar__plus_00_dot_40_bar__plus_03_dot_75 RemoteControlType)\n (objectType CreditCard_bar__minus_04_dot_22_bar__plus_00_dot_48_bar__plus_05_dot_33 CreditCardType)\n (objectType Statue_bar__minus_02_dot_01_bar__plus_00_dot_85_bar__plus_06_dot_57 StatueType)\n (objectType WateringCan_bar__minus_00_dot_21_bar_00_dot_00_bar__plus_03_dot_23 WateringCanType)\n (objectType Watch_bar__minus_02_dot_27_bar__plus_00_dot_84_bar__plus_06_dot_70 WatchType)\n (objectType CreditCard_bar__minus_03_dot_48_bar__plus_00_dot_40_bar__plus_03_dot_81 CreditCardType)\n (objectType Watch_bar__minus_03_dot_10_bar__plus_00_dot_07_bar__plus_06_dot_72 WatchType)\n (objectType Box_bar__minus_01_dot_87_bar__plus_00_dot_87_bar__plus_01_dot_13 BoxType)\n (objectType RemoteControl_bar__minus_02_dot_32_bar__plus_00_dot_40_bar__plus_03_dot_70 RemoteControlType)\n (objectType DeskLamp_bar__minus_00_dot_26_bar__plus_00_dot_62_bar__plus_03_dot_31 DeskLampType)\n (objectType CreditCard_bar__minus_03_dot_48_bar__plus_00_dot_38_bar__plus_06_dot_75 CreditCardType)\n (objectType HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_62_bar__plus_03_dot_99 HousePlantType)\n (objectType Statue_bar__minus_02_dot_07_bar__plus_00_dot_85_bar__plus_06_dot_83 StatueType)\n (objectType Curtains_bar__minus_00_dot_04_bar__plus_02_dot_15_bar__plus_01_dot_00 CurtainsType)\n (objectType Painting_bar__minus_00_dot_02_bar__plus_02_dot_06_bar__plus_05_dot_38 PaintingType)\n (canContain SideTableType WatchType)\n (canContain SideTableType BoxType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType StatueType)\n (canContain SideTableType WateringCanType)\n (canContain OttomanType BoxType)\n (canContain OttomanType LaptopType)\n (canContain OttomanType PillowType)\n (canContain OttomanType RemoteControlType)\n (canContain OttomanType KeyChainType)\n (canContain OttomanType CreditCardType)\n (canContain SofaType BoxType)\n (canContain SofaType LaptopType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType KeyChainType)\n (canContain SofaType CreditCardType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType CreditCardType)\n (canContain DrawerType WatchType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType WatchType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType WatchType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType CreditCardType)\n (canContain DrawerType WatchType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain SideTableType WatchType)\n (canContain SideTableType BoxType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType StatueType)\n (canContain SideTableType WateringCanType)\n (canContain SideTableType WatchType)\n (canContain SideTableType BoxType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType StatueType)\n (canContain SideTableType WateringCanType)\n (canContain DresserType WatchType)\n (canContain DresserType BoxType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType LaptopType)\n (canContain DresserType RemoteControlType)\n (canContain DresserType StatueType)\n (canContain DresserType WateringCanType)\n (canContain DiningTableType WatchType)\n (canContain DiningTableType BoxType)\n (canContain DiningTableType KeyChainType)\n (canContain DiningTableType CreditCardType)\n (canContain DiningTableType LaptopType)\n (canContain DiningTableType RemoteControlType)\n (canContain DiningTableType StatueType)\n (canContain DiningTableType WateringCanType)\n (pickupable KeyChain_bar__minus_01_dot_73_bar__plus_00_dot_76_bar__plus_00_dot_85)\n (pickupable Watch_bar__minus_00_dot_35_bar__plus_00_dot_63_bar__plus_03_dot_13)\n (pickupable Pillow_bar__minus_02_dot_49_bar__plus_00_dot_53_bar__plus_03_dot_63)\n (pickupable RemoteControl_bar__minus_04_dot_22_bar__plus_00_dot_48_bar__plus_05_dot_79)\n (pickupable Laptop_bar__minus_01_dot_31_bar__plus_00_dot_75_bar__plus_00_dot_99)\n (pickupable KeyChain_bar__minus_02_dot_87_bar__plus_00_dot_07_bar__plus_06_dot_70)\n (pickupable RemoteControl_bar__minus_03_dot_60_bar__plus_00_dot_40_bar__plus_03_dot_75)\n (pickupable CreditCard_bar__minus_04_dot_22_bar__plus_00_dot_48_bar__plus_05_dot_33)\n (pickupable Statue_bar__minus_02_dot_01_bar__plus_00_dot_85_bar__plus_06_dot_57)\n (pickupable WateringCan_bar__minus_00_dot_21_bar_00_dot_00_bar__plus_03_dot_23)\n (pickupable Watch_bar__minus_02_dot_27_bar__plus_00_dot_84_bar__plus_06_dot_70)\n (pickupable CreditCard_bar__minus_03_dot_48_bar__plus_00_dot_40_bar__plus_03_dot_81)\n (pickupable Watch_bar__minus_03_dot_10_bar__plus_00_dot_07_bar__plus_06_dot_72)\n (pickupable Box_bar__minus_01_dot_87_bar__plus_00_dot_87_bar__plus_01_dot_13)\n (pickupable RemoteControl_bar__minus_02_dot_32_bar__plus_00_dot_40_bar__plus_03_dot_70)\n (pickupable CreditCard_bar__minus_03_dot_48_bar__plus_00_dot_38_bar__plus_06_dot_75)\n (pickupable Statue_bar__minus_02_dot_07_bar__plus_00_dot_85_bar__plus_06_dot_83)\n (isReceptacleObject Box_bar__minus_01_dot_87_bar__plus_00_dot_87_bar__plus_01_dot_13)\n (openable Drawer_bar__minus_03_dot_48_bar__plus_00_dot_16_bar__plus_06_dot_71)\n (openable Drawer_bar__minus_03_dot_48_bar__plus_00_dot_47_bar__plus_06_dot_71)\n (openable Drawer_bar__minus_02_dot_93_bar__plus_00_dot_47_bar__plus_06_dot_71)\n (openable Drawer_bar__minus_02_dot_93_bar__plus_00_dot_16_bar__plus_06_dot_71)\n \n (atLocation agent1 loc_bar__minus_12_bar_3_bar_0_bar_30)\n \n \n \n \n \n \n \n (toggleable FloorLamp_bar__minus_04_dot_72_bar__plus_00_dot_00_bar__plus_03_dot_69)\n (toggleable DeskLamp_bar__minus_00_dot_26_bar__plus_00_dot_62_bar__plus_03_dot_31)\n \n \n \n \n (inReceptacle CreditCard_bar__minus_03_dot_48_bar__plus_00_dot_40_bar__plus_03_dot_81 ArmChair_bar__minus_03_dot_55_bar__plus_00_dot_00_bar__plus_03_dot_58)\n (inReceptacle RemoteControl_bar__minus_03_dot_60_bar__plus_00_dot_40_bar__plus_03_dot_75 ArmChair_bar__minus_03_dot_55_bar__plus_00_dot_00_bar__plus_03_dot_58)\n (inReceptacle Watch_bar__minus_03_dot_10_bar__plus_00_dot_07_bar__plus_06_dot_72 Drawer_bar__minus_02_dot_93_bar__plus_00_dot_16_bar__plus_06_dot_71)\n (inReceptacle KeyChain_bar__minus_02_dot_87_bar__plus_00_dot_07_bar__plus_06_dot_70 Drawer_bar__minus_02_dot_93_bar__plus_00_dot_16_bar__plus_06_dot_71)\n (inReceptacle KeyChain_bar__minus_01_dot_73_bar__plus_00_dot_76_bar__plus_00_dot_85 DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27)\n (inReceptacle Laptop_bar__minus_01_dot_31_bar__plus_00_dot_75_bar__plus_00_dot_99 DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27)\n (inReceptacle Box_bar__minus_01_dot_87_bar__plus_00_dot_87_bar__plus_01_dot_13 DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27)\n (inReceptacle Statue_bar__minus_02_dot_01_bar__plus_00_dot_85_bar__plus_06_dot_57 SideTable_bar__minus_02_dot_07_bar_00_dot_00_bar__plus_06_dot_70)\n (inReceptacle Watch_bar__minus_02_dot_27_bar__plus_00_dot_84_bar__plus_06_dot_70 SideTable_bar__minus_02_dot_07_bar_00_dot_00_bar__plus_06_dot_70)\n (inReceptacle Statue_bar__minus_02_dot_07_bar__plus_00_dot_85_bar__plus_06_dot_83 SideTable_bar__minus_02_dot_07_bar_00_dot_00_bar__plus_06_dot_70)\n (inReceptacle DeskLamp_bar__minus_00_dot_26_bar__plus_00_dot_62_bar__plus_03_dot_31 SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_52)\n (inReceptacle Watch_bar__minus_00_dot_35_bar__plus_00_dot_63_bar__plus_03_dot_13 SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_52)\n (inReceptacle HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_62_bar__plus_03_dot_99 SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_52)\n (inReceptacle CreditCard_bar__minus_03_dot_48_bar__plus_00_dot_38_bar__plus_06_dot_75 Drawer_bar__minus_03_dot_48_bar__plus_00_dot_47_bar__plus_06_dot_71)\n (inReceptacle Television_bar__minus_03_dot_19_bar__plus_01_dot_18_bar__plus_06_dot_78 Dresser_bar__minus_03_dot_20_bar__minus_00_dot_01_bar__plus_06_dot_79)\n (inReceptacle Pillow_bar__minus_02_dot_49_bar__plus_00_dot_53_bar__plus_03_dot_63 ArmChair_bar__minus_02_dot_45_bar__plus_00_dot_01_bar__plus_03_dot_50)\n (inReceptacle RemoteControl_bar__minus_04_dot_22_bar__plus_00_dot_48_bar__plus_05_dot_79 Sofa_bar__minus_04_dot_43_bar__plus_00_dot_01_bar__plus_05_dot_06)\n (inReceptacle CreditCard_bar__minus_04_dot_22_bar__plus_00_dot_48_bar__plus_05_dot_33 Sofa_bar__minus_04_dot_43_bar__plus_00_dot_01_bar__plus_05_dot_06)\n \n \n (receptacleAtLocation ArmChair_bar__minus_02_dot_45_bar__plus_00_dot_01_bar__plus_03_dot_50 loc_bar__minus_10_bar_10_bar_0_bar_60)\n (receptacleAtLocation ArmChair_bar__minus_03_dot_55_bar__plus_00_dot_00_bar__plus_03_dot_58 loc_bar__minus_15_bar_18_bar_2_bar_60)\n (receptacleAtLocation DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27 loc_bar__minus_6_bar_9_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_02_dot_93_bar__plus_00_dot_16_bar__plus_06_dot_71 loc_bar__minus_14_bar_22_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_93_bar__plus_00_dot_47_bar__plus_06_dot_71 loc_bar__minus_10_bar_23_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_03_dot_48_bar__plus_00_dot_16_bar__plus_06_dot_71 loc_bar__minus_12_bar_22_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_03_dot_48_bar__plus_00_dot_47_bar__plus_06_dot_71 loc_bar__minus_12_bar_23_bar_0_bar_45)\n (receptacleAtLocation Dresser_bar__minus_03_dot_20_bar__minus_00_dot_01_bar__plus_06_dot_79 loc_bar__minus_13_bar_24_bar_0_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_26_bar__plus_00_dot_00_bar__plus_06_dot_80 loc_bar__minus_3_bar_26_bar_1_bar_60)\n (receptacleAtLocation Ottoman_bar__minus_02_dot_43_bar__plus_00_dot_03_bar__plus_04_dot_41 loc_bar__minus_10_bar_20_bar_2_bar_60)\n (receptacleAtLocation SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_52 loc_bar__minus_4_bar_14_bar_1_bar_60)\n (receptacleAtLocation SideTable_bar__minus_02_dot_07_bar_00_dot_00_bar__plus_06_dot_70 loc_bar__minus_7_bar_24_bar_0_bar_60)\n (receptacleAtLocation SideTable_bar__minus_04_dot_19_bar_00_dot_00_bar__plus_03_dot_59 loc_bar__minus_15_bar_11_bar_0_bar_60)\n (receptacleAtLocation Sofa_bar__minus_04_dot_43_bar__plus_00_dot_01_bar__plus_05_dot_06 loc_bar__minus_13_bar_21_bar_3_bar_60)\n (objectAtLocation RemoteControl_bar__minus_02_dot_32_bar__plus_00_dot_40_bar__plus_03_dot_70 loc_bar__minus_6_bar_15_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__minus_01_dot_73_bar__plus_00_dot_76_bar__plus_00_dot_85 loc_bar__minus_6_bar_9_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__minus_03_dot_48_bar__plus_00_dot_40_bar__plus_03_dot_81 loc_bar__minus_15_bar_18_bar_2_bar_60)\n (objectAtLocation Watch_bar__minus_02_dot_27_bar__plus_00_dot_84_bar__plus_06_dot_70 loc_bar__minus_7_bar_24_bar_0_bar_60)\n (objectAtLocation Statue_bar__minus_02_dot_01_bar__plus_00_dot_85_bar__plus_06_dot_57 loc_bar__minus_7_bar_24_bar_0_bar_60)\n (objectAtLocation RemoteControl_bar__minus_03_dot_60_bar__plus_00_dot_40_bar__plus_03_dot_75 loc_bar__minus_15_bar_18_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__minus_04_dot_22_bar__plus_00_dot_48_bar__plus_05_dot_33 loc_bar__minus_13_bar_21_bar_3_bar_60)\n (objectAtLocation Watch_bar__minus_00_dot_35_bar__plus_00_dot_63_bar__plus_03_dot_13 loc_bar__minus_4_bar_14_bar_1_bar_60)\n (objectAtLocation Curtains_bar__minus_00_dot_04_bar__plus_02_dot_15_bar__plus_01_dot_00 loc_bar__minus_3_bar_3_bar_1_bar__minus_30)\n (objectAtLocation Box_bar__minus_01_dot_87_bar__plus_00_dot_87_bar__plus_01_dot_13 loc_bar__minus_6_bar_9_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_01_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_78 loc_bar__minus_9_bar_2_bar_1_bar_60)\n (objectAtLocation Chair_bar__minus_02_dot_15_bar__plus_00_dot_00_bar__plus_01_dot_29 loc_bar__minus_11_bar_5_bar_1_bar_60)\n (objectAtLocation Painting_bar__minus_00_dot_02_bar__plus_02_dot_06_bar__plus_05_dot_38 loc_bar__minus_3_bar_22_bar_1_bar__minus_30)\n (objectAtLocation Chair_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_01_dot_78 loc_bar__minus_6_bar_9_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_01_dot_08_bar__plus_00_dot_00_bar__plus_01_dot_29 loc_bar__minus_2_bar_6_bar_3_bar_60)\n (objectAtLocation Statue_bar__minus_02_dot_07_bar__plus_00_dot_85_bar__plus_06_dot_83 loc_bar__minus_7_bar_24_bar_0_bar_60)\n (objectAtLocation Watch_bar__minus_03_dot_10_bar__plus_00_dot_07_bar__plus_06_dot_72 loc_bar__minus_14_bar_22_bar_0_bar_45)\n (objectAtLocation FloorLamp_bar__minus_04_dot_72_bar__plus_00_dot_00_bar__plus_03_dot_69 loc_bar__minus_18_bar_12_bar_0_bar_60)\n (objectAtLocation WateringCan_bar__minus_00_dot_21_bar_00_dot_00_bar__plus_03_dot_23 loc_bar__minus_3_bar_13_bar_1_bar_60)\n (objectAtLocation Laptop_bar__minus_01_dot_31_bar__plus_00_dot_75_bar__plus_00_dot_99 loc_bar__minus_6_bar_9_bar_2_bar_60)\n (objectAtLocation Television_bar__minus_03_dot_19_bar__plus_01_dot_18_bar__plus_06_dot_78 loc_bar__minus_13_bar_24_bar_0_bar_60)\n (objectAtLocation CreditCard_bar__minus_03_dot_48_bar__plus_00_dot_38_bar__plus_06_dot_75 loc_bar__minus_12_bar_23_bar_0_bar_45)\n (objectAtLocation KeyChain_bar__minus_02_dot_87_bar__plus_00_dot_07_bar__plus_06_dot_70 loc_bar__minus_14_bar_22_bar_0_bar_45)\n (objectAtLocation HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_62_bar__plus_03_dot_99 loc_bar__minus_4_bar_14_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__minus_03_dot_48_bar__plus_01_dot_47_bar__plus_00_dot_00 loc_bar__minus_14_bar_2_bar_2_bar_15)\n (objectAtLocation Pillow_bar__minus_02_dot_49_bar__plus_00_dot_53_bar__plus_03_dot_63 loc_bar__minus_10_bar_10_bar_0_bar_60)\n (objectAtLocation RemoteControl_bar__minus_04_dot_22_bar__plus_00_dot_48_bar__plus_05_dot_79 loc_bar__minus_13_bar_21_bar_3_bar_60)\n (objectAtLocation DeskLamp_bar__minus_00_dot_26_bar__plus_00_dot_62_bar__plus_03_dot_31 loc_bar__minus_4_bar_14_bar_1_bar_60)\n (objectAtLocation Window_bar__minus_00_dot_01_bar__plus_01_dot_34_bar__plus_01_dot_73 loc_bar__minus_2_bar_7_bar_1_bar_30)\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 WatchType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sidetable 3", "use desklamp 1", "take watch 3 from sidetable 3"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Watch-None-DeskLamp-205/trial_T20190907_001948_509721/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Watch-None-DeskLamp-205/trial_T20190907_001948_509721/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..44a7292868c6adb0f4a1a35c84aa2479ffa6d44d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Watch-None-DeskLamp-205/trial_T20190907_001948_509721/initial_state.pddl @@ -0,0 +1,525 @@ + +(define (problem plan_trial_T20190907_001948_509721) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Box_bar__minus_01_dot_87_bar__plus_00_dot_87_bar__plus_01_dot_13 - object + Chair_bar__minus_01_dot_08_bar__plus_00_dot_00_bar__plus_01_dot_29 - object + Chair_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_01_dot_78 - object + Chair_bar__minus_01_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_78 - object + Chair_bar__minus_02_dot_15_bar__plus_00_dot_00_bar__plus_01_dot_29 - object + CreditCard_bar__minus_03_dot_48_bar__plus_00_dot_38_bar__plus_06_dot_75 - object + CreditCard_bar__minus_03_dot_48_bar__plus_00_dot_40_bar__plus_03_dot_81 - object + CreditCard_bar__minus_04_dot_22_bar__plus_00_dot_48_bar__plus_05_dot_33 - object + Curtains_bar__minus_00_dot_04_bar__plus_02_dot_15_bar__plus_01_dot_00 - object + DeskLamp_bar__minus_00_dot_26_bar__plus_00_dot_62_bar__plus_03_dot_31 - object + FloorLamp_bar__minus_04_dot_72_bar__plus_00_dot_00_bar__plus_03_dot_69 - object + HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_62_bar__plus_03_dot_99 - object + KeyChain_bar__minus_01_dot_73_bar__plus_00_dot_76_bar__plus_00_dot_85 - object + KeyChain_bar__minus_02_dot_87_bar__plus_00_dot_07_bar__plus_06_dot_70 - object + Laptop_bar__minus_01_dot_31_bar__plus_00_dot_75_bar__plus_00_dot_99 - object + LightSwitch_bar__minus_03_dot_48_bar__plus_01_dot_47_bar__plus_00_dot_00 - object + Painting_bar__minus_00_dot_02_bar__plus_02_dot_06_bar__plus_05_dot_38 - object + Pillow_bar__minus_02_dot_49_bar__plus_00_dot_53_bar__plus_03_dot_63 - object + RemoteControl_bar__minus_02_dot_32_bar__plus_00_dot_40_bar__plus_03_dot_70 - object + RemoteControl_bar__minus_03_dot_60_bar__plus_00_dot_40_bar__plus_03_dot_75 - object + RemoteControl_bar__minus_04_dot_22_bar__plus_00_dot_48_bar__plus_05_dot_79 - object + Statue_bar__minus_02_dot_01_bar__plus_00_dot_85_bar__plus_06_dot_57 - object + Statue_bar__minus_02_dot_07_bar__plus_00_dot_85_bar__plus_06_dot_83 - object + Television_bar__minus_03_dot_19_bar__plus_01_dot_18_bar__plus_06_dot_78 - object + Watch_bar__minus_00_dot_35_bar__plus_00_dot_63_bar__plus_03_dot_13 - object + Watch_bar__minus_02_dot_27_bar__plus_00_dot_84_bar__plus_06_dot_70 - object + Watch_bar__minus_03_dot_10_bar__plus_00_dot_07_bar__plus_06_dot_72 - object + WateringCan_bar__minus_00_dot_21_bar_00_dot_00_bar__plus_03_dot_23 - object + Window_bar__minus_00_dot_01_bar__plus_01_dot_34_bar__plus_01_dot_73 - object + ArmChair_bar__minus_02_dot_45_bar__plus_00_dot_01_bar__plus_03_dot_50 - receptacle + ArmChair_bar__minus_03_dot_55_bar__plus_00_dot_00_bar__plus_03_dot_58 - receptacle + DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27 - receptacle + Drawer_bar__minus_02_dot_93_bar__plus_00_dot_16_bar__plus_06_dot_71 - receptacle + Drawer_bar__minus_02_dot_93_bar__plus_00_dot_47_bar__plus_06_dot_71 - receptacle + Drawer_bar__minus_03_dot_48_bar__plus_00_dot_16_bar__plus_06_dot_71 - receptacle + Drawer_bar__minus_03_dot_48_bar__plus_00_dot_47_bar__plus_06_dot_71 - receptacle + Dresser_bar__minus_03_dot_20_bar__minus_00_dot_01_bar__plus_06_dot_79 - receptacle + GarbageCan_bar__minus_00_dot_26_bar__plus_00_dot_00_bar__plus_06_dot_80 - receptacle + Ottoman_bar__minus_02_dot_43_bar__plus_00_dot_03_bar__plus_04_dot_41 - receptacle + SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_52 - receptacle + SideTable_bar__minus_02_dot_07_bar_00_dot_00_bar__plus_06_dot_70 - receptacle + SideTable_bar__minus_04_dot_19_bar_00_dot_00_bar__plus_03_dot_59 - receptacle + Sofa_bar__minus_04_dot_43_bar__plus_00_dot_01_bar__plus_05_dot_06 - receptacle + loc_bar__minus_15_bar_18_bar_2_bar_60 - location + loc_bar__minus_12_bar_23_bar_0_bar_45 - location + loc_bar__minus_18_bar_12_bar_0_bar_60 - location + loc_bar__minus_13_bar_24_bar_0_bar_60 - location + loc_bar__minus_6_bar_15_bar_3_bar_60 - location + loc_bar__minus_7_bar_24_bar_0_bar_60 - location + loc_bar__minus_10_bar_23_bar_0_bar_45 - location + loc_bar__minus_11_bar_5_bar_1_bar_60 - location + loc_bar__minus_3_bar_26_bar_1_bar_60 - location + loc_bar__minus_6_bar_9_bar_2_bar_60 - location + loc_bar__minus_4_bar_14_bar_1_bar_60 - location + loc_bar__minus_13_bar_21_bar_3_bar_60 - location + loc_bar__minus_9_bar_2_bar_1_bar_60 - location + loc_bar__minus_3_bar_3_bar_1_bar__minus_30 - location + loc_bar__minus_10_bar_20_bar_2_bar_60 - location + loc_bar__minus_12_bar_22_bar_0_bar_45 - location + loc_bar__minus_2_bar_6_bar_3_bar_60 - location + loc_bar__minus_14_bar_2_bar_2_bar_15 - location + loc_bar__minus_14_bar_22_bar_0_bar_45 - location + loc_bar__minus_15_bar_11_bar_0_bar_60 - location + loc_bar__minus_3_bar_22_bar_1_bar__minus_30 - location + loc_bar__minus_2_bar_7_bar_1_bar_30 - location + loc_bar__minus_3_bar_13_bar_1_bar_60 - location + loc_bar__minus_10_bar_10_bar_0_bar_60 - location + loc_bar__minus_12_bar_3_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType GarbageCan_bar__minus_00_dot_26_bar__plus_00_dot_00_bar__plus_06_dot_80 GarbageCanType) + (receptacleType SideTable_bar__minus_02_dot_07_bar_00_dot_00_bar__plus_06_dot_70 SideTableType) + (receptacleType Ottoman_bar__minus_02_dot_43_bar__plus_00_dot_03_bar__plus_04_dot_41 OttomanType) + (receptacleType Sofa_bar__minus_04_dot_43_bar__plus_00_dot_01_bar__plus_05_dot_06 SofaType) + (receptacleType ArmChair_bar__minus_03_dot_55_bar__plus_00_dot_00_bar__plus_03_dot_58 ArmChairType) + (receptacleType Drawer_bar__minus_03_dot_48_bar__plus_00_dot_16_bar__plus_06_dot_71 DrawerType) + (receptacleType Drawer_bar__minus_03_dot_48_bar__plus_00_dot_47_bar__plus_06_dot_71 DrawerType) + (receptacleType Drawer_bar__minus_02_dot_93_bar__plus_00_dot_47_bar__plus_06_dot_71 DrawerType) + (receptacleType ArmChair_bar__minus_02_dot_45_bar__plus_00_dot_01_bar__plus_03_dot_50 ArmChairType) + (receptacleType Drawer_bar__minus_02_dot_93_bar__plus_00_dot_16_bar__plus_06_dot_71 DrawerType) + (receptacleType SideTable_bar__minus_04_dot_19_bar_00_dot_00_bar__plus_03_dot_59 SideTableType) + (receptacleType SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_52 SideTableType) + (receptacleType Dresser_bar__minus_03_dot_20_bar__minus_00_dot_01_bar__plus_06_dot_79 DresserType) + (receptacleType DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27 DiningTableType) + (objectType Chair_bar__minus_01_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_78 ChairType) + (objectType KeyChain_bar__minus_01_dot_73_bar__plus_00_dot_76_bar__plus_00_dot_85 KeyChainType) + (objectType Watch_bar__minus_00_dot_35_bar__plus_00_dot_63_bar__plus_03_dot_13 WatchType) + (objectType FloorLamp_bar__minus_04_dot_72_bar__plus_00_dot_00_bar__plus_03_dot_69 FloorLampType) + (objectType Chair_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_01_dot_78 ChairType) + (objectType Chair_bar__minus_01_dot_08_bar__plus_00_dot_00_bar__plus_01_dot_29 ChairType) + (objectType Pillow_bar__minus_02_dot_49_bar__plus_00_dot_53_bar__plus_03_dot_63 PillowType) + (objectType LightSwitch_bar__minus_03_dot_48_bar__plus_01_dot_47_bar__plus_00_dot_00 LightSwitchType) + (objectType RemoteControl_bar__minus_04_dot_22_bar__plus_00_dot_48_bar__plus_05_dot_79 RemoteControlType) + (objectType Laptop_bar__minus_01_dot_31_bar__plus_00_dot_75_bar__plus_00_dot_99 LaptopType) + (objectType Chair_bar__minus_02_dot_15_bar__plus_00_dot_00_bar__plus_01_dot_29 ChairType) + (objectType Television_bar__minus_03_dot_19_bar__plus_01_dot_18_bar__plus_06_dot_78 TelevisionType) + (objectType Window_bar__minus_00_dot_01_bar__plus_01_dot_34_bar__plus_01_dot_73 WindowType) + (objectType KeyChain_bar__minus_02_dot_87_bar__plus_00_dot_07_bar__plus_06_dot_70 KeyChainType) + (objectType RemoteControl_bar__minus_03_dot_60_bar__plus_00_dot_40_bar__plus_03_dot_75 RemoteControlType) + (objectType CreditCard_bar__minus_04_dot_22_bar__plus_00_dot_48_bar__plus_05_dot_33 CreditCardType) + (objectType Statue_bar__minus_02_dot_01_bar__plus_00_dot_85_bar__plus_06_dot_57 StatueType) + (objectType WateringCan_bar__minus_00_dot_21_bar_00_dot_00_bar__plus_03_dot_23 WateringCanType) + (objectType Watch_bar__minus_02_dot_27_bar__plus_00_dot_84_bar__plus_06_dot_70 WatchType) + (objectType CreditCard_bar__minus_03_dot_48_bar__plus_00_dot_40_bar__plus_03_dot_81 CreditCardType) + (objectType Watch_bar__minus_03_dot_10_bar__plus_00_dot_07_bar__plus_06_dot_72 WatchType) + (objectType Box_bar__minus_01_dot_87_bar__plus_00_dot_87_bar__plus_01_dot_13 BoxType) + (objectType RemoteControl_bar__minus_02_dot_32_bar__plus_00_dot_40_bar__plus_03_dot_70 RemoteControlType) + (objectType DeskLamp_bar__minus_00_dot_26_bar__plus_00_dot_62_bar__plus_03_dot_31 DeskLampType) + (objectType CreditCard_bar__minus_03_dot_48_bar__plus_00_dot_38_bar__plus_06_dot_75 CreditCardType) + (objectType HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_62_bar__plus_03_dot_99 HousePlantType) + (objectType Statue_bar__minus_02_dot_07_bar__plus_00_dot_85_bar__plus_06_dot_83 StatueType) + (objectType Curtains_bar__minus_00_dot_04_bar__plus_02_dot_15_bar__plus_01_dot_00 CurtainsType) + (objectType Painting_bar__minus_00_dot_02_bar__plus_02_dot_06_bar__plus_05_dot_38 PaintingType) + (canContain SideTableType WatchType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType StatueType) + (canContain SideTableType WateringCanType) + (canContain OttomanType BoxType) + (canContain OttomanType LaptopType) + (canContain OttomanType PillowType) + (canContain OttomanType RemoteControlType) + (canContain OttomanType KeyChainType) + (canContain OttomanType CreditCardType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType CreditCardType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain DrawerType WatchType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain DrawerType WatchType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain DrawerType WatchType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain DrawerType WatchType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain SideTableType WatchType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType StatueType) + (canContain SideTableType WateringCanType) + (canContain SideTableType WatchType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType StatueType) + (canContain SideTableType WateringCanType) + (canContain DresserType WatchType) + (canContain DresserType BoxType) + (canContain DresserType KeyChainType) + (canContain DresserType CreditCardType) + (canContain DresserType LaptopType) + (canContain DresserType RemoteControlType) + (canContain DresserType StatueType) + (canContain DresserType WateringCanType) + (canContain DiningTableType WatchType) + (canContain DiningTableType BoxType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType StatueType) + (canContain DiningTableType WateringCanType) + (pickupable KeyChain_bar__minus_01_dot_73_bar__plus_00_dot_76_bar__plus_00_dot_85) + (pickupable Watch_bar__minus_00_dot_35_bar__plus_00_dot_63_bar__plus_03_dot_13) + (pickupable Pillow_bar__minus_02_dot_49_bar__plus_00_dot_53_bar__plus_03_dot_63) + (pickupable RemoteControl_bar__minus_04_dot_22_bar__plus_00_dot_48_bar__plus_05_dot_79) + (pickupable Laptop_bar__minus_01_dot_31_bar__plus_00_dot_75_bar__plus_00_dot_99) + (pickupable KeyChain_bar__minus_02_dot_87_bar__plus_00_dot_07_bar__plus_06_dot_70) + (pickupable RemoteControl_bar__minus_03_dot_60_bar__plus_00_dot_40_bar__plus_03_dot_75) + (pickupable CreditCard_bar__minus_04_dot_22_bar__plus_00_dot_48_bar__plus_05_dot_33) + (pickupable Statue_bar__minus_02_dot_01_bar__plus_00_dot_85_bar__plus_06_dot_57) + (pickupable WateringCan_bar__minus_00_dot_21_bar_00_dot_00_bar__plus_03_dot_23) + (pickupable Watch_bar__minus_02_dot_27_bar__plus_00_dot_84_bar__plus_06_dot_70) + (pickupable CreditCard_bar__minus_03_dot_48_bar__plus_00_dot_40_bar__plus_03_dot_81) + (pickupable Watch_bar__minus_03_dot_10_bar__plus_00_dot_07_bar__plus_06_dot_72) + (pickupable Box_bar__minus_01_dot_87_bar__plus_00_dot_87_bar__plus_01_dot_13) + (pickupable RemoteControl_bar__minus_02_dot_32_bar__plus_00_dot_40_bar__plus_03_dot_70) + (pickupable CreditCard_bar__minus_03_dot_48_bar__plus_00_dot_38_bar__plus_06_dot_75) + (pickupable Statue_bar__minus_02_dot_07_bar__plus_00_dot_85_bar__plus_06_dot_83) + (isReceptacleObject Box_bar__minus_01_dot_87_bar__plus_00_dot_87_bar__plus_01_dot_13) + (openable Drawer_bar__minus_03_dot_48_bar__plus_00_dot_16_bar__plus_06_dot_71) + (openable Drawer_bar__minus_03_dot_48_bar__plus_00_dot_47_bar__plus_06_dot_71) + (openable Drawer_bar__minus_02_dot_93_bar__plus_00_dot_47_bar__plus_06_dot_71) + (openable Drawer_bar__minus_02_dot_93_bar__plus_00_dot_16_bar__plus_06_dot_71) + + (atLocation agent1 loc_bar__minus_12_bar_3_bar_0_bar_30) + + + + + + + + (toggleable FloorLamp_bar__minus_04_dot_72_bar__plus_00_dot_00_bar__plus_03_dot_69) + (toggleable DeskLamp_bar__minus_00_dot_26_bar__plus_00_dot_62_bar__plus_03_dot_31) + + + + + (inReceptacle CreditCard_bar__minus_03_dot_48_bar__plus_00_dot_40_bar__plus_03_dot_81 ArmChair_bar__minus_03_dot_55_bar__plus_00_dot_00_bar__plus_03_dot_58) + (inReceptacle RemoteControl_bar__minus_03_dot_60_bar__plus_00_dot_40_bar__plus_03_dot_75 ArmChair_bar__minus_03_dot_55_bar__plus_00_dot_00_bar__plus_03_dot_58) + (inReceptacle Watch_bar__minus_03_dot_10_bar__plus_00_dot_07_bar__plus_06_dot_72 Drawer_bar__minus_02_dot_93_bar__plus_00_dot_16_bar__plus_06_dot_71) + (inReceptacle KeyChain_bar__minus_02_dot_87_bar__plus_00_dot_07_bar__plus_06_dot_70 Drawer_bar__minus_02_dot_93_bar__plus_00_dot_16_bar__plus_06_dot_71) + (inReceptacle KeyChain_bar__minus_01_dot_73_bar__plus_00_dot_76_bar__plus_00_dot_85 DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27) + (inReceptacle Laptop_bar__minus_01_dot_31_bar__plus_00_dot_75_bar__plus_00_dot_99 DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27) + (inReceptacle Box_bar__minus_01_dot_87_bar__plus_00_dot_87_bar__plus_01_dot_13 DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27) + (inReceptacle Statue_bar__minus_02_dot_01_bar__plus_00_dot_85_bar__plus_06_dot_57 SideTable_bar__minus_02_dot_07_bar_00_dot_00_bar__plus_06_dot_70) + (inReceptacle Watch_bar__minus_02_dot_27_bar__plus_00_dot_84_bar__plus_06_dot_70 SideTable_bar__minus_02_dot_07_bar_00_dot_00_bar__plus_06_dot_70) + (inReceptacle Statue_bar__minus_02_dot_07_bar__plus_00_dot_85_bar__plus_06_dot_83 SideTable_bar__minus_02_dot_07_bar_00_dot_00_bar__plus_06_dot_70) + (inReceptacle DeskLamp_bar__minus_00_dot_26_bar__plus_00_dot_62_bar__plus_03_dot_31 SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_52) + (inReceptacle Watch_bar__minus_00_dot_35_bar__plus_00_dot_63_bar__plus_03_dot_13 SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_52) + (inReceptacle HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_62_bar__plus_03_dot_99 SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_52) + (inReceptacle CreditCard_bar__minus_03_dot_48_bar__plus_00_dot_38_bar__plus_06_dot_75 Drawer_bar__minus_03_dot_48_bar__plus_00_dot_47_bar__plus_06_dot_71) + (inReceptacle Television_bar__minus_03_dot_19_bar__plus_01_dot_18_bar__plus_06_dot_78 Dresser_bar__minus_03_dot_20_bar__minus_00_dot_01_bar__plus_06_dot_79) + (inReceptacle Pillow_bar__minus_02_dot_49_bar__plus_00_dot_53_bar__plus_03_dot_63 ArmChair_bar__minus_02_dot_45_bar__plus_00_dot_01_bar__plus_03_dot_50) + (inReceptacle RemoteControl_bar__minus_04_dot_22_bar__plus_00_dot_48_bar__plus_05_dot_79 Sofa_bar__minus_04_dot_43_bar__plus_00_dot_01_bar__plus_05_dot_06) + (inReceptacle CreditCard_bar__minus_04_dot_22_bar__plus_00_dot_48_bar__plus_05_dot_33 Sofa_bar__minus_04_dot_43_bar__plus_00_dot_01_bar__plus_05_dot_06) + + + (receptacleAtLocation ArmChair_bar__minus_02_dot_45_bar__plus_00_dot_01_bar__plus_03_dot_50 loc_bar__minus_10_bar_10_bar_0_bar_60) + (receptacleAtLocation ArmChair_bar__minus_03_dot_55_bar__plus_00_dot_00_bar__plus_03_dot_58 loc_bar__minus_15_bar_18_bar_2_bar_60) + (receptacleAtLocation DiningTable_bar__minus_01_dot_59_bar__plus_00_dot_31_bar__plus_01_dot_27 loc_bar__minus_6_bar_9_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_93_bar__plus_00_dot_16_bar__plus_06_dot_71 loc_bar__minus_14_bar_22_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_93_bar__plus_00_dot_47_bar__plus_06_dot_71 loc_bar__minus_10_bar_23_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_03_dot_48_bar__plus_00_dot_16_bar__plus_06_dot_71 loc_bar__minus_12_bar_22_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_03_dot_48_bar__plus_00_dot_47_bar__plus_06_dot_71 loc_bar__minus_12_bar_23_bar_0_bar_45) + (receptacleAtLocation Dresser_bar__minus_03_dot_20_bar__minus_00_dot_01_bar__plus_06_dot_79 loc_bar__minus_13_bar_24_bar_0_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_26_bar__plus_00_dot_00_bar__plus_06_dot_80 loc_bar__minus_3_bar_26_bar_1_bar_60) + (receptacleAtLocation Ottoman_bar__minus_02_dot_43_bar__plus_00_dot_03_bar__plus_04_dot_41 loc_bar__minus_10_bar_20_bar_2_bar_60) + (receptacleAtLocation SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_52 loc_bar__minus_4_bar_14_bar_1_bar_60) + (receptacleAtLocation SideTable_bar__minus_02_dot_07_bar_00_dot_00_bar__plus_06_dot_70 loc_bar__minus_7_bar_24_bar_0_bar_60) + (receptacleAtLocation SideTable_bar__minus_04_dot_19_bar_00_dot_00_bar__plus_03_dot_59 loc_bar__minus_15_bar_11_bar_0_bar_60) + (receptacleAtLocation Sofa_bar__minus_04_dot_43_bar__plus_00_dot_01_bar__plus_05_dot_06 loc_bar__minus_13_bar_21_bar_3_bar_60) + (objectAtLocation RemoteControl_bar__minus_02_dot_32_bar__plus_00_dot_40_bar__plus_03_dot_70 loc_bar__minus_6_bar_15_bar_3_bar_60) + (objectAtLocation KeyChain_bar__minus_01_dot_73_bar__plus_00_dot_76_bar__plus_00_dot_85 loc_bar__minus_6_bar_9_bar_2_bar_60) + (objectAtLocation CreditCard_bar__minus_03_dot_48_bar__plus_00_dot_40_bar__plus_03_dot_81 loc_bar__minus_15_bar_18_bar_2_bar_60) + (objectAtLocation Watch_bar__minus_02_dot_27_bar__plus_00_dot_84_bar__plus_06_dot_70 loc_bar__minus_7_bar_24_bar_0_bar_60) + (objectAtLocation Statue_bar__minus_02_dot_01_bar__plus_00_dot_85_bar__plus_06_dot_57 loc_bar__minus_7_bar_24_bar_0_bar_60) + (objectAtLocation RemoteControl_bar__minus_03_dot_60_bar__plus_00_dot_40_bar__plus_03_dot_75 loc_bar__minus_15_bar_18_bar_2_bar_60) + (objectAtLocation CreditCard_bar__minus_04_dot_22_bar__plus_00_dot_48_bar__plus_05_dot_33 loc_bar__minus_13_bar_21_bar_3_bar_60) + (objectAtLocation Watch_bar__minus_00_dot_35_bar__plus_00_dot_63_bar__plus_03_dot_13 loc_bar__minus_4_bar_14_bar_1_bar_60) + (objectAtLocation Curtains_bar__minus_00_dot_04_bar__plus_02_dot_15_bar__plus_01_dot_00 loc_bar__minus_3_bar_3_bar_1_bar__minus_30) + (objectAtLocation Box_bar__minus_01_dot_87_bar__plus_00_dot_87_bar__plus_01_dot_13 loc_bar__minus_6_bar_9_bar_2_bar_60) + (objectAtLocation Chair_bar__minus_01_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_78 loc_bar__minus_9_bar_2_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_02_dot_15_bar__plus_00_dot_00_bar__plus_01_dot_29 loc_bar__minus_11_bar_5_bar_1_bar_60) + (objectAtLocation Painting_bar__minus_00_dot_02_bar__plus_02_dot_06_bar__plus_05_dot_38 loc_bar__minus_3_bar_22_bar_1_bar__minus_30) + (objectAtLocation Chair_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_01_dot_78 loc_bar__minus_6_bar_9_bar_2_bar_60) + (objectAtLocation Chair_bar__minus_01_dot_08_bar__plus_00_dot_00_bar__plus_01_dot_29 loc_bar__minus_2_bar_6_bar_3_bar_60) + (objectAtLocation Statue_bar__minus_02_dot_07_bar__plus_00_dot_85_bar__plus_06_dot_83 loc_bar__minus_7_bar_24_bar_0_bar_60) + (objectAtLocation Watch_bar__minus_03_dot_10_bar__plus_00_dot_07_bar__plus_06_dot_72 loc_bar__minus_14_bar_22_bar_0_bar_45) + (objectAtLocation FloorLamp_bar__minus_04_dot_72_bar__plus_00_dot_00_bar__plus_03_dot_69 loc_bar__minus_18_bar_12_bar_0_bar_60) + (objectAtLocation WateringCan_bar__minus_00_dot_21_bar_00_dot_00_bar__plus_03_dot_23 loc_bar__minus_3_bar_13_bar_1_bar_60) + (objectAtLocation Laptop_bar__minus_01_dot_31_bar__plus_00_dot_75_bar__plus_00_dot_99 loc_bar__minus_6_bar_9_bar_2_bar_60) + (objectAtLocation Television_bar__minus_03_dot_19_bar__plus_01_dot_18_bar__plus_06_dot_78 loc_bar__minus_13_bar_24_bar_0_bar_60) + (objectAtLocation CreditCard_bar__minus_03_dot_48_bar__plus_00_dot_38_bar__plus_06_dot_75 loc_bar__minus_12_bar_23_bar_0_bar_45) + (objectAtLocation KeyChain_bar__minus_02_dot_87_bar__plus_00_dot_07_bar__plus_06_dot_70 loc_bar__minus_14_bar_22_bar_0_bar_45) + (objectAtLocation HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_62_bar__plus_03_dot_99 loc_bar__minus_4_bar_14_bar_1_bar_60) + (objectAtLocation LightSwitch_bar__minus_03_dot_48_bar__plus_01_dot_47_bar__plus_00_dot_00 loc_bar__minus_14_bar_2_bar_2_bar_15) + (objectAtLocation Pillow_bar__minus_02_dot_49_bar__plus_00_dot_53_bar__plus_03_dot_63 loc_bar__minus_10_bar_10_bar_0_bar_60) + (objectAtLocation RemoteControl_bar__minus_04_dot_22_bar__plus_00_dot_48_bar__plus_05_dot_79 loc_bar__minus_13_bar_21_bar_3_bar_60) + (objectAtLocation DeskLamp_bar__minus_00_dot_26_bar__plus_00_dot_62_bar__plus_03_dot_31 loc_bar__minus_4_bar_14_bar_1_bar_60) + (objectAtLocation Window_bar__minus_00_dot_01_bar__plus_01_dot_34_bar__plus_01_dot_73 loc_bar__minus_2_bar_7_bar_1_bar_30) + ) + + + (:goal + (and + (exists (?ot - object + ?r - receptacle + ?a - agent + ?l - location) + (and + (objectType ?ot DeskLampType) + (toggleable ?ot) + (isToggled ?ot) + (receptacleAtLocation ?r ?l) + (atLocation ?a ?l) + (inReceptacle ?ot ?r) + ) + ) + (exists (?o - object + ?a - agent) + (and + (objectType ?o WatchType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Watch-None-DeskLamp-205/trial_T20190907_001948_509721/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Watch-None-DeskLamp-205/trial_T20190907_001948_509721/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..6a97411ab684b71a9ac6a3ed0f2de07dcd6693d2 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Watch-None-DeskLamp-205/trial_T20190907_001948_509721/traj_data.json @@ -0,0 +1,1995 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": 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"DeskLamp" + } + ], + "random_seed": 1555110339, + "scene_num": 205 + }, + "task_id": "trial_T20190907_001948_509721", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1MKCTVKE7J0ZP_3DYGAII7POPGVD1VMOFSDYPFYD4PQ9", + "high_descs": [ + "Go straight, turn right, then turn left to reach the table with the lamp on it.", + "Turn on the lamp.", + "Pick up the watch on the table, to the right of the lamp." + ], + "task_desc": "View a watch by lamp light. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AM2KK02JXXW48_3RRCEFRB7PT72EDN5MQEFBJLLJJB48", + "high_descs": [ + "Move to the small black table with the lamp.", + "Turn on the lamp on the table.", + "Pick up the watch on the table." + ], + "task_desc": "Examine the watch by the light of the lamp on the table. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1HKHM4NVAO98H_3SLE99ER0QUN5B1CQFG497WUMAABZ0", + "high_descs": [ + "walk over to the half circle table in the living room", + "turn on the lamp on the table", + "grab the wrist watch off of the table" + ], + "task_desc": "turn on the lamp before picking up a wrist watch", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-ButterKnife-None-Drawer-8/trial_T20190907_142645_859732/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-ButterKnife-None-Drawer-8/trial_T20190907_142645_859732/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..e6a30342344f4e8e459f5e18d9af7b7ae8645bf6 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-ButterKnife-None-Drawer-8/trial_T20190907_142645_859732/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 butterknife 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_142645_859732)\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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Lettuce_bar__minus_01_dot_96_bar__plus_00_dot_98_bar__plus_00_dot_29)\n \n \n \n \n \n (sliceable Egg_bar__minus_01_dot_81_bar__plus_00_dot_94_bar__minus_01_dot_97)\n (sliceable Lettuce_bar__minus_01_dot_71_bar__plus_00_dot_98_bar__plus_00_dot_29)\n (sliceable Tomato_bar__minus_02_dot_32_bar__plus_00_dot_95_bar__plus_00_dot_38)\n (sliceable Potato_bar__plus_01_dot_48_bar__plus_01_dot_41_bar__plus_02_dot_23)\n (sliceable Tomato_bar__plus_01_dot_30_bar__plus_00_dot_25_bar__plus_01_dot_08)\n (sliceable Apple_bar__plus_01_dot_28_bar__plus_01_dot_40_bar__plus_02_dot_10)\n (sliceable Potato_bar__minus_02_dot_45_bar__plus_00_dot_95_bar__plus_00_dot_03)\n (sliceable Bread_bar__plus_01_dot_26_bar__plus_00_dot_99_bar__minus_01_dot_33)\n (sliceable Lettuce_bar__plus_01_dot_43_bar__plus_01_dot_44_bar__plus_01_dot_73)\n (sliceable Potato_bar__minus_02_dot_08_bar__plus_00_dot_95_bar__plus_00_dot_55)\n (sliceable Egg_bar__plus_00_dot_22_bar__plus_00_dot_95_bar__minus_01_dot_86)\n (sliceable Lettuce_bar__minus_01_dot_96_bar__plus_00_dot_98_bar__plus_00_dot_29)\n \n (inReceptacle Knife_bar__plus_00_dot_92_bar__plus_00_dot_80_bar__minus_01_dot_12 Drawer_bar__plus_00_dot_87_bar__plus_00_dot_75_bar__minus_01_dot_14)\n (inReceptacle Knife_bar__plus_01_dot_02_bar__plus_00_dot_80_bar__minus_01_dot_07 Drawer_bar__plus_00_dot_87_bar__plus_00_dot_75_bar__minus_01_dot_14)\n (inReceptacle Spatula_bar__plus_01_dot_08_bar__plus_00_dot_79_bar__minus_01_dot_18 Drawer_bar__plus_00_dot_87_bar__plus_00_dot_75_bar__minus_01_dot_14)\n (inReceptacle Plate_bar__minus_00_dot_68_bar__plus_01_dot_66_bar__minus_01_dot_84 Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_06_bar__minus_01_dot_69)\n (inReceptacle Mug_bar__minus_00_dot_39_bar__plus_01_dot_65_bar__minus_01_dot_80 Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_06_bar__minus_01_dot_69)\n (inReceptacle SoapBottle_bar__plus_01_dot_21_bar__plus_00_dot_11_bar__minus_00_dot_74 Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__minus_00_dot_55)\n (inReceptacle Plate_bar__plus_01_dot_09_bar__plus_00_dot_12_bar__minus_01_dot_07 Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__minus_01_dot_37)\n (inReceptacle DishSponge_bar__plus_01_dot_28_bar__plus_01_dot_66_bar__minus_00_dot_66 Cabinet_bar__plus_01_dot_16_bar__plus_02_dot_06_bar__minus_00_dot_34)\n (inReceptacle Bowl_bar__plus_01_dot_52_bar__plus_01_dot_66_bar__minus_01_dot_26 Cabinet_bar__plus_01_dot_16_bar__plus_02_dot_06_bar__minus_01_dot_02)\n (inReceptacle Glassbottle_bar__minus_01_dot_52_bar__plus_01_dot_86_bar__minus_01_dot_91 Cabinet_bar__minus_01_dot_61_bar__plus_02_dot_01_bar__minus_01_dot_69)\n (inReceptacle Pen_bar__minus_02_dot_02_bar__plus_00_dot_78_bar__minus_01_dot_50 Drawer_bar__minus_02_dot_11_bar__plus_00_dot_75_bar__minus_01_dot_39)\n (inReceptacle Pan_bar__minus_01_dot_08_bar__plus_00_dot_95_bar__minus_01_dot_81 StoveBurner_bar__minus_01_dot_08_bar__plus_00_dot_94_bar__minus_01_dot_81)\n (inReceptacle PepperShaker_bar__minus_02_dot_04_bar__plus_00_dot_91_bar__minus_01_dot_45 CounterTop_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__minus_01_dot_71)\n (inReceptacle PepperShaker_bar__minus_01_dot_89_bar__plus_00_dot_91_bar__minus_01_dot_71 CounterTop_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__minus_01_dot_71)\n (inReceptacle Egg_bar__minus_01_dot_81_bar__plus_00_dot_94_bar__minus_01_dot_97 CounterTop_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__minus_01_dot_71)\n (inReceptacle Ladle_bar__minus_01_dot_81_bar__plus_00_dot_95_bar__minus_01_dot_45 CounterTop_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__minus_01_dot_71)\n (inReceptacle Fork_bar__minus_02_dot_12_bar__plus_00_dot_91_bar__minus_01_dot_45 CounterTop_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__minus_01_dot_71)\n (inReceptacle Cup_bar__minus_01_dot_89_bar__plus_00_dot_91_bar__minus_01_dot_97 CounterTop_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__minus_01_dot_71)\n (inReceptacle Bread_bar__plus_01_dot_26_bar__plus_00_dot_99_bar__minus_01_dot_33 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65)\n (inReceptacle Fork_bar__minus_00_dot_70_bar__plus_00_dot_91_bar__minus_01_dot_70 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65)\n (inReceptacle Sink_bar__plus_00_dot_16_bar__plus_00_dot_82_bar__minus_01_dot_80 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65)\n (inReceptacle Spoon_bar__plus_01_dot_26_bar__plus_00_dot_91_bar__plus_00_dot_37 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65)\n (inReceptacle ButterKnife_bar__minus_00_dot_40_bar__plus_00_dot_91_bar__minus_01_dot_87 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65)\n (inReceptacle SaltShaker_bar__minus_00_dot_63_bar__plus_00_dot_91_bar__minus_01_dot_45 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65)\n (inReceptacle Ladle_bar__plus_01_dot_26_bar__plus_00_dot_96_bar__minus_00_dot_99 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65)\n (inReceptacle Pan_bar__minus_01_dot_08_bar__plus_00_dot_95_bar__minus_01_dot_53 StoveBurner_bar__minus_01_dot_08_bar__plus_00_dot_94_bar__minus_01_dot_53)\n (inReceptacle Potato_bar__minus_02_dot_45_bar__plus_00_dot_95_bar__plus_00_dot_03 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29)\n (inReceptacle Glassbottle_bar__minus_01_dot_84_bar__plus_00_dot_91_bar__plus_00_dot_38 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29)\n (inReceptacle Tomato_bar__minus_02_dot_32_bar__plus_00_dot_95_bar__plus_00_dot_38 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29)\n (inReceptacle ButterKnife_bar__minus_02_dot_08_bar__plus_00_dot_91_bar__plus_00_dot_03 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29)\n (inReceptacle SprayBottle_bar__minus_01_dot_84_bar__plus_00_dot_91_bar__plus_00_dot_12 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29)\n (inReceptacle Fork_bar__minus_01_dot_71_bar__plus_00_dot_91_bar__plus_00_dot_46 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29)\n (inReceptacle ButterKnife_bar__minus_02_dot_08_bar__plus_00_dot_91_bar__plus_00_dot_46 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29)\n (inReceptacle Potato_bar__minus_02_dot_08_bar__plus_00_dot_95_bar__plus_00_dot_55 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29)\n (inReceptacle Pot_bar__minus_02_dot_20_bar__plus_00_dot_91_bar__plus_00_dot_12 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29)\n (inReceptacle Lettuce_bar__minus_01_dot_71_bar__plus_00_dot_98_bar__plus_00_dot_29 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29)\n (inReceptacle Lettuce_bar__minus_01_dot_96_bar__plus_00_dot_98_bar__plus_00_dot_29 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29)\n (inReceptacle Spoon_bar__plus_00_dot_70_bar__plus_00_dot_77_bar__minus_01_dot_57 Drawer_bar__plus_00_dot_59_bar__plus_00_dot_75_bar__minus_01_dot_39)\n (inReceptacle DishSponge_bar__minus_01_dot_77_bar__plus_00_dot_77_bar__minus_01_dot_53 Drawer_bar__minus_01_dot_80_bar__plus_00_dot_75_bar__minus_01_dot_39)\n (inReceptacle Spatula_bar__plus_01_dot_53_bar__plus_01_dot_18_bar__minus_00_dot_66 CounterTop_bar__plus_01_dot_50_bar__plus_01_dot_20_bar__minus_00_dot_66)\n (inReceptacle Kettle_bar__plus_01_dot_38_bar__plus_01_dot_16_bar__minus_01_dot_69 CounterTop_bar__plus_01_dot_50_bar__plus_01_dot_20_bar__minus_00_dot_66)\n (inReceptacle HousePlant_bar__plus_01_dot_44_bar__plus_01_dot_15_bar__plus_00_dot_59 CounterTop_bar__plus_01_dot_50_bar__plus_01_dot_20_bar__minus_00_dot_66)\n (inReceptacle Pen_bar__plus_01_dot_38_bar__plus_01_dot_16_bar__minus_01_dot_00 CounterTop_bar__plus_01_dot_50_bar__plus_01_dot_20_bar__minus_00_dot_66)\n (inReceptacle Pot_bar__minus_01_dot_43_bar__plus_00_dot_95_bar__minus_01_dot_53 StoveBurner_bar__minus_01_dot_43_bar__plus_00_dot_94_bar__minus_01_dot_53)\n (inReceptacle Pot_bar__minus_01_dot_43_bar__plus_00_dot_95_bar__minus_01_dot_81 StoveBurner_bar__minus_01_dot_43_bar__plus_00_dot_94_bar__minus_01_dot_81)\n (inReceptacle Pen_bar__plus_01_dot_38_bar__plus_00_dot_22_bar__plus_01_dot_08 GarbageCan_bar__plus_01_dot_38_bar__plus_00_dot_00_bar__plus_01_dot_08)\n (inReceptacle Tomato_bar__plus_01_dot_30_bar__plus_00_dot_25_bar__plus_01_dot_08 GarbageCan_bar__plus_01_dot_38_bar__plus_00_dot_00_bar__plus_01_dot_08)\n (inReceptacle DishSponge_bar__plus_01_dot_46_bar__plus_00_dot_21_bar__plus_01_dot_05 GarbageCan_bar__plus_01_dot_38_bar__plus_00_dot_00_bar__plus_01_dot_08)\n (inReceptacle Lettuce_bar__plus_01_dot_43_bar__plus_01_dot_44_bar__plus_01_dot_73 Fridge_bar__plus_01_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_10)\n (inReceptacle Potato_bar__plus_01_dot_48_bar__plus_01_dot_41_bar__plus_02_dot_23 Fridge_bar__plus_01_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_10)\n (inReceptacle Apple_bar__plus_01_dot_28_bar__plus_01_dot_40_bar__plus_02_dot_10 Fridge_bar__plus_01_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_10)\n (inReceptacle Cup_bar__plus_01_dot_47_bar__plus_01_dot_27_bar__minus_00_dot_02 Microwave_bar__plus_01_dot_42_bar__plus_01_dot_15_bar__plus_00_dot_02)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_49_bar__plus_02_dot_06_bar__minus_01_dot_69 loc_bar_2_bar__minus_3_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_83_bar__plus_00_dot_40_bar__minus_01_dot_39 loc_bar_1_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__plus_00_dot_67 loc_bar_0_bar_0_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__minus_00_dot_55 loc_bar_0_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__minus_01_dot_37 loc_bar_0_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_16_bar__plus_02_dot_06_bar__minus_00_dot_34 loc_bar_2_bar__minus_3_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_16_bar__plus_02_dot_06_bar__minus_01_dot_02 loc_bar_1_bar__minus_4_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_19_bar__plus_02_dot_06_bar__minus_01_dot_69 loc_bar_1_bar__minus_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_20_bar__plus_00_dot_40_bar__minus_01_dot_39 loc_bar_2_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_24_bar__plus_00_dot_40_bar__minus_01_dot_39 loc_bar__minus_3_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_69_bar__plus_00_dot_75_bar__minus_01_dot_39 loc_bar__minus_4_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_39 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_06_bar__minus_01_dot_69 loc_bar__minus_2_bar__minus_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_87_bar__plus_02_dot_01_bar__minus_01_dot_69 loc_bar__minus_5_bar__minus_2_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_61_bar__plus_02_dot_01_bar__minus_01_dot_69 loc_bar__minus_4_bar__minus_2_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_66_bar__plus_02_dot_06_bar__minus_01_dot_68 loc_bar__minus_8_bar__minus_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_67_bar__plus_00_dot_40_bar__minus_01_dot_39 loc_bar__minus_6_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_40_bar__minus_01_dot_39 loc_bar__minus_6_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_09_bar__plus_00_dot_90_bar__minus_01_dot_88 loc_bar_2_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_50_bar__plus_01_dot_20_bar__minus_00_dot_66 loc_bar_2_bar__minus_4_bar_1_bar_30)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__minus_01_dot_71 loc_bar__minus_8_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29 loc_bar__minus_8_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_59_bar__plus_00_dot_75_bar__minus_01_dot_39 loc_bar__minus_1_bar__minus_4_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_86_bar__plus_00_dot_75_bar__plus_00_dot_43 loc_bar_1_bar_1_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_86_bar__plus_00_dot_75_bar__minus_00_dot_70 loc_bar_1_bar__minus_4_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_87_bar__plus_00_dot_75_bar__minus_01_dot_14 loc_bar_0_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_38_bar__plus_00_dot_75_bar__minus_01_dot_39 loc_bar__minus_4_bar__minus_4_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_80_bar__plus_00_dot_75_bar__minus_01_dot_39 loc_bar__minus_5_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_02_dot_11_bar__plus_00_dot_75_bar__minus_01_dot_39 loc_bar__minus_6_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation Fridge_bar__plus_01_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_10 loc_bar_2_bar_9_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_38_bar__plus_00_dot_00_bar__plus_01_dot_08 loc_bar_1_bar_7_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__plus_01_dot_42_bar__plus_01_dot_15_bar__plus_00_dot_02 loc_bar_2_bar_0_bar_1_bar_30)\n (receptacleAtLocation Sink_bar__plus_00_dot_16_bar__plus_00_dot_82_bar__minus_01_dot_80_bar_SinkBasin loc_bar__minus_1_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_08_bar__plus_00_dot_94_bar__minus_01_dot_53 loc_bar__minus_4_bar__minus_4_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_08_bar__plus_00_dot_94_bar__minus_01_dot_81 loc_bar__minus_4_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_43_bar__plus_00_dot_94_bar__minus_01_dot_53 loc_bar__minus_6_bar__minus_4_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_43_bar__plus_00_dot_94_bar__minus_01_dot_81 loc_bar__minus_6_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation Toaster_bar__minus_02_dot_07_bar__plus_00_dot_90_bar__minus_01_dot_85 loc_bar__minus_10_bar__minus_6_bar_1_bar_60)\n (objectAtLocation Spoon_bar__plus_01_dot_26_bar__plus_00_dot_91_bar__plus_00_dot_37 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__plus_01_dot_46_bar__plus_00_dot_21_bar__plus_01_dot_05 loc_bar_1_bar_7_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__minus_01_dot_89_bar__plus_00_dot_91_bar__minus_01_dot_71 loc_bar__minus_8_bar__minus_4_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_40_bar__plus_00_dot_91_bar__minus_01_dot_87 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Pot_bar__minus_01_dot_43_bar__plus_00_dot_95_bar__minus_01_dot_81 loc_bar__minus_6_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Pan_bar__minus_01_dot_08_bar__plus_00_dot_95_bar__minus_01_dot_53 loc_bar__minus_4_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Spatula_bar__plus_01_dot_53_bar__plus_01_dot_18_bar__minus_00_dot_66 loc_bar_2_bar__minus_4_bar_1_bar_30)\n (objectAtLocation Egg_bar__plus_00_dot_22_bar__plus_00_dot_95_bar__minus_01_dot_86 loc_bar__minus_1_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Cup_bar__minus_01_dot_89_bar__plus_00_dot_91_bar__minus_01_dot_97 loc_bar__minus_8_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Pen_bar__plus_01_dot_38_bar__plus_00_dot_22_bar__plus_01_dot_08 loc_bar_1_bar_7_bar_1_bar_60)\n (objectAtLocation Lettuce_bar__minus_01_dot_96_bar__plus_00_dot_98_bar__plus_00_dot_29 loc_bar__minus_8_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Potato_bar__plus_01_dot_48_bar__plus_01_dot_41_bar__plus_02_dot_23 loc_bar_2_bar_9_bar_1_bar_60)\n (objectAtLocation Ladle_bar__minus_01_dot_81_bar__plus_00_dot_95_bar__minus_01_dot_45 loc_bar__minus_8_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Fork_bar__minus_01_dot_71_bar__plus_00_dot_91_bar__plus_00_dot_46 loc_bar__minus_8_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Plate_bar__plus_01_dot_09_bar__plus_00_dot_12_bar__minus_01_dot_07 loc_bar_0_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Knife_bar__plus_00_dot_92_bar__plus_00_dot_80_bar__minus_01_dot_12 loc_bar_0_bar__minus_3_bar_1_bar_45)\n (objectAtLocation Glassbottle_bar__minus_01_dot_52_bar__plus_01_dot_86_bar__minus_01_dot_91 loc_bar__minus_4_bar__minus_2_bar_2_bar__minus_15)\n (objectAtLocation Tomato_bar__plus_01_dot_30_bar__plus_00_dot_25_bar__plus_01_dot_08 loc_bar_1_bar_7_bar_1_bar_60)\n (objectAtLocation Lettuce_bar__plus_01_dot_43_bar__plus_01_dot_44_bar__plus_01_dot_73 loc_bar_2_bar_9_bar_1_bar_60)\n (objectAtLocation Knife_bar__plus_00_dot_25_bar__plus_00_dot_95_bar__minus_01_dot_66 loc_bar__minus_1_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Plate_bar__plus_01_dot_39_bar__plus_01_dot_72_bar__plus_01_dot_84 loc_bar_2_bar_7_bar_1_bar_0)\n (objectAtLocation Pot_bar__minus_01_dot_43_bar__plus_00_dot_95_bar__minus_01_dot_53 loc_bar__minus_6_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Fork_bar__minus_00_dot_70_bar__plus_00_dot_91_bar__minus_01_dot_70 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__plus_01_dot_28_bar__plus_01_dot_66_bar__minus_00_dot_66 loc_bar_2_bar__minus_3_bar_1_bar__minus_30)\n (objectAtLocation ButterKnife_bar__minus_02_dot_08_bar__plus_00_dot_91_bar__plus_00_dot_03 loc_bar__minus_8_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Potato_bar__minus_02_dot_08_bar__plus_00_dot_95_bar__plus_00_dot_55 loc_bar__minus_8_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Pen_bar__plus_01_dot_38_bar__plus_01_dot_16_bar__minus_01_dot_00 loc_bar_2_bar__minus_4_bar_1_bar_30)\n (objectAtLocation Chair_bar__minus_01_dot_99_bar__plus_00_dot_02_bar__plus_00_dot_88 loc_bar__minus_8_bar_5_bar_2_bar_60)\n (objectAtLocation Sink_bar__plus_00_dot_16_bar__plus_00_dot_82_bar__minus_01_dot_80 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (objectAtLocation LightSwitch_bar__minus_02_dot_54_bar__plus_01_dot_29_bar__plus_02_dot_57 loc_bar__minus_8_bar_10_bar_3_bar_30)\n (objectAtLocation Tomato_bar__minus_02_dot_32_bar__plus_00_dot_95_bar__plus_00_dot_38 loc_bar__minus_8_bar__minus_2_bar_0_bar_45)\n (objectAtLocation StoveKnob_bar__minus_01_dot_36_bar__plus_01_dot_10_bar__minus_01_dot_98 loc_bar__minus_5_bar__minus_4_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_00_dot_96_bar__plus_01_dot_10_bar__minus_01_dot_98 loc_bar__minus_4_bar__minus_4_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_01_dot_52_bar__plus_01_dot_10_bar__minus_01_dot_98 loc_bar__minus_6_bar__minus_4_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_01_dot_11_bar__plus_01_dot_10_bar__minus_01_dot_98 loc_bar__minus_4_bar__minus_4_bar_2_bar_30)\n (objectAtLocation Glassbottle_bar__minus_01_dot_84_bar__plus_00_dot_91_bar__plus_00_dot_38 loc_bar__minus_8_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Knife_bar__plus_01_dot_02_bar__plus_00_dot_80_bar__minus_01_dot_07 loc_bar_0_bar__minus_3_bar_1_bar_45)\n (objectAtLocation Plate_bar__minus_00_dot_68_bar__plus_01_dot_66_bar__minus_01_dot_84 loc_bar__minus_2_bar__minus_4_bar_2_bar__minus_30)\n (objectAtLocation Fork_bar__minus_02_dot_12_bar__plus_00_dot_91_bar__minus_01_dot_45 loc_bar__minus_8_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Ladle_bar__plus_01_dot_26_bar__plus_00_dot_96_bar__minus_00_dot_99 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_02_dot_45_bar__plus_00_dot_95_bar__plus_00_dot_03 loc_bar__minus_8_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Lettuce_bar__minus_01_dot_71_bar__plus_00_dot_98_bar__plus_00_dot_29 loc_bar__minus_8_bar__minus_2_bar_0_bar_45)\n (objectAtLocation HousePlant_bar__plus_01_dot_44_bar__plus_01_dot_15_bar__plus_00_dot_59 loc_bar_2_bar__minus_4_bar_1_bar_30)\n (objectAtLocation Kettle_bar__plus_01_dot_38_bar__plus_01_dot_16_bar__minus_01_dot_69 loc_bar_2_bar__minus_4_bar_1_bar_30)\n (objectAtLocation Pen_bar__minus_02_dot_02_bar__plus_00_dot_78_bar__minus_01_dot_50 loc_bar__minus_6_bar__minus_4_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__minus_00_dot_63_bar__plus_00_dot_91_bar__minus_01_dot_45 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Cup_bar__plus_01_dot_47_bar__plus_01_dot_27_bar__minus_00_dot_02 loc_bar_2_bar_0_bar_1_bar_30)\n (objectAtLocation Window_bar__minus_00_dot_49_bar__plus_01_dot_45_bar__plus_03_dot_30 loc_bar__minus_2_bar_11_bar_0_bar_15)\n (objectAtLocation Egg_bar__minus_01_dot_81_bar__plus_00_dot_94_bar__minus_01_dot_97 loc_bar__minus_8_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Spatula_bar__plus_01_dot_08_bar__plus_00_dot_79_bar__minus_01_dot_18 loc_bar_0_bar__minus_3_bar_1_bar_45)\n (objectAtLocation Bowl_bar__plus_01_dot_52_bar__plus_01_dot_66_bar__minus_01_dot_26 loc_bar_1_bar__minus_4_bar_1_bar__minus_30)\n (objectAtLocation SprayBottle_bar__minus_01_dot_84_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar__minus_8_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Pan_bar__minus_01_dot_08_bar__plus_00_dot_95_bar__minus_01_dot_81 loc_bar__minus_4_bar__minus_4_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__plus_01_dot_21_bar__plus_00_dot_11_bar__minus_00_dot_74 loc_bar_0_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Pot_bar__minus_02_dot_20_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar__minus_8_bar__minus_2_bar_0_bar_45)\n (objectAtLocation ButterKnife_bar__minus_02_dot_08_bar__plus_00_dot_91_bar__plus_00_dot_46 loc_bar__minus_8_bar__minus_2_bar_0_bar_45)\n (objectAtLocation PepperShaker_bar__minus_02_dot_04_bar__plus_00_dot_91_bar__minus_01_dot_45 loc_bar__minus_8_bar__minus_4_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__minus_01_dot_77_bar__plus_00_dot_77_bar__minus_01_dot_53 loc_bar__minus_5_bar__minus_4_bar_3_bar_60)\n (objectAtLocation Bread_bar__plus_01_dot_26_bar__plus_00_dot_99_bar__minus_01_dot_33 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Apple_bar__plus_01_dot_28_bar__plus_01_dot_40_bar__plus_02_dot_10 loc_bar_2_bar_9_bar_1_bar_60)\n (objectAtLocation Spoon_bar__plus_00_dot_70_bar__plus_00_dot_77_bar__minus_01_dot_57 loc_bar__minus_1_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_39_bar__plus_01_dot_65_bar__minus_01_dot_80 loc_bar__minus_2_bar__minus_4_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 ButterKnifeType)\n (receptacleType ?r DrawerType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 2", "take butterknife 3 from countertop 2", "go to drawer 1", "open drawer 1", "move butterknife 3 to drawer 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-ButterKnife-None-Drawer-8/trial_T20190907_142645_859732/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-ButterKnife-None-Drawer-8/trial_T20190907_142645_859732/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..61c069d3f8cbf90fa3f74470242bdd5059c74b99 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-ButterKnife-None-Drawer-8/trial_T20190907_142645_859732/initial_state.pddl @@ -0,0 +1,1324 @@ + +(define (problem plan_trial_T20190907_142645_859732) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_01_dot_40_bar__plus_02_dot_10 - object + Bowl_bar__plus_01_dot_52_bar__plus_01_dot_66_bar__minus_01_dot_26 - object + Bread_bar__plus_01_dot_26_bar__plus_00_dot_99_bar__minus_01_dot_33 - object + ButterKnife_bar__minus_00_dot_40_bar__plus_00_dot_91_bar__minus_01_dot_87 - object + ButterKnife_bar__minus_02_dot_08_bar__plus_00_dot_91_bar__plus_00_dot_03 - object + ButterKnife_bar__minus_02_dot_08_bar__plus_00_dot_91_bar__plus_00_dot_46 - object + Chair_bar__minus_01_dot_99_bar__plus_00_dot_02_bar__plus_00_dot_88 - object + Cup_bar__plus_01_dot_47_bar__plus_01_dot_27_bar__minus_00_dot_02 - object + Cup_bar__minus_01_dot_89_bar__plus_00_dot_91_bar__minus_01_dot_97 - object + DishSponge_bar__plus_01_dot_28_bar__plus_01_dot_66_bar__minus_00_dot_66 - object + DishSponge_bar__plus_01_dot_46_bar__plus_00_dot_21_bar__plus_01_dot_05 - object + DishSponge_bar__minus_01_dot_77_bar__plus_00_dot_77_bar__minus_01_dot_53 - object + Egg_bar__plus_00_dot_22_bar__plus_00_dot_95_bar__minus_01_dot_86 - object + Egg_bar__minus_01_dot_81_bar__plus_00_dot_94_bar__minus_01_dot_97 - object + Faucet_bar__minus_00_dot_10_bar__plus_01_dot_04_bar__minus_01_dot_87 - object + Fork_bar__minus_00_dot_70_bar__plus_00_dot_91_bar__minus_01_dot_70 - object + Fork_bar__minus_01_dot_71_bar__plus_00_dot_91_bar__plus_00_dot_46 - object + Fork_bar__minus_02_dot_12_bar__plus_00_dot_91_bar__minus_01_dot_45 - object + Glassbottle_bar__minus_01_dot_52_bar__plus_01_dot_86_bar__minus_01_dot_91 - object + Glassbottle_bar__minus_01_dot_84_bar__plus_00_dot_91_bar__plus_00_dot_38 - object + HousePlant_bar__plus_01_dot_44_bar__plus_01_dot_15_bar__plus_00_dot_59 - object + Kettle_bar__plus_01_dot_38_bar__plus_01_dot_16_bar__minus_01_dot_69 - object + Knife_bar__plus_00_dot_25_bar__plus_00_dot_95_bar__minus_01_dot_66 - object + Knife_bar__plus_00_dot_92_bar__plus_00_dot_80_bar__minus_01_dot_12 - object + Knife_bar__plus_01_dot_02_bar__plus_00_dot_80_bar__minus_01_dot_07 - object + Ladle_bar__plus_01_dot_26_bar__plus_00_dot_96_bar__minus_00_dot_99 - object + Ladle_bar__minus_01_dot_81_bar__plus_00_dot_95_bar__minus_01_dot_45 - object + Lettuce_bar__plus_01_dot_43_bar__plus_01_dot_44_bar__plus_01_dot_73 - object + Lettuce_bar__minus_01_dot_71_bar__plus_00_dot_98_bar__plus_00_dot_29 - object + Lettuce_bar__minus_01_dot_96_bar__plus_00_dot_98_bar__plus_00_dot_29 - object + LightSwitch_bar__minus_02_dot_54_bar__plus_01_dot_29_bar__plus_02_dot_57 - object + Mug_bar__minus_00_dot_39_bar__plus_01_dot_65_bar__minus_01_dot_80 - object + Pan_bar__minus_01_dot_08_bar__plus_00_dot_95_bar__minus_01_dot_53 - object + Pan_bar__minus_01_dot_08_bar__plus_00_dot_95_bar__minus_01_dot_81 - object + Pen_bar__plus_01_dot_38_bar__plus_00_dot_22_bar__plus_01_dot_08 - object + Pen_bar__plus_01_dot_38_bar__plus_01_dot_16_bar__minus_01_dot_00 - object + Pen_bar__minus_02_dot_02_bar__plus_00_dot_78_bar__minus_01_dot_50 - object + PepperShaker_bar__minus_01_dot_89_bar__plus_00_dot_91_bar__minus_01_dot_71 - object + PepperShaker_bar__minus_02_dot_04_bar__plus_00_dot_91_bar__minus_01_dot_45 - object + Plate_bar__plus_01_dot_09_bar__plus_00_dot_12_bar__minus_01_dot_07 - object + Plate_bar__plus_01_dot_39_bar__plus_01_dot_72_bar__plus_01_dot_84 - object + Plate_bar__minus_00_dot_68_bar__plus_01_dot_66_bar__minus_01_dot_84 - object + Potato_bar__plus_01_dot_48_bar__plus_01_dot_41_bar__plus_02_dot_23 - object + Potato_bar__minus_02_dot_08_bar__plus_00_dot_95_bar__plus_00_dot_55 - object + Potato_bar__minus_02_dot_45_bar__plus_00_dot_95_bar__plus_00_dot_03 - object + Pot_bar__minus_01_dot_43_bar__plus_00_dot_95_bar__minus_01_dot_53 - object + Pot_bar__minus_01_dot_43_bar__plus_00_dot_95_bar__minus_01_dot_81 - object + Pot_bar__minus_02_dot_20_bar__plus_00_dot_91_bar__plus_00_dot_12 - object + SaltShaker_bar__minus_00_dot_63_bar__plus_00_dot_91_bar__minus_01_dot_45 - object + Sink_bar__plus_00_dot_16_bar__plus_00_dot_82_bar__minus_01_dot_80 - object + SoapBottle_bar__plus_01_dot_21_bar__plus_00_dot_11_bar__minus_00_dot_74 - object + Spatula_bar__plus_01_dot_08_bar__plus_00_dot_79_bar__minus_01_dot_18 - object + Spatula_bar__plus_01_dot_53_bar__plus_01_dot_18_bar__minus_00_dot_66 - object + Spoon_bar__plus_00_dot_70_bar__plus_00_dot_77_bar__minus_01_dot_57 - object + Spoon_bar__plus_01_dot_26_bar__plus_00_dot_91_bar__plus_00_dot_37 - object + SprayBottle_bar__minus_01_dot_84_bar__plus_00_dot_91_bar__plus_00_dot_12 - object + StoveKnob_bar__minus_00_dot_96_bar__plus_01_dot_10_bar__minus_01_dot_98 - object + StoveKnob_bar__minus_01_dot_11_bar__plus_01_dot_10_bar__minus_01_dot_98 - object + StoveKnob_bar__minus_01_dot_36_bar__plus_01_dot_10_bar__minus_01_dot_98 - object + StoveKnob_bar__minus_01_dot_52_bar__plus_01_dot_10_bar__minus_01_dot_98 - object + Tomato_bar__plus_01_dot_30_bar__plus_00_dot_25_bar__plus_01_dot_08 - object + Tomato_bar__minus_02_dot_32_bar__plus_00_dot_95_bar__plus_00_dot_38 - object + Window_bar__minus_00_dot_49_bar__plus_01_dot_45_bar__plus_03_dot_30 - object + Cabinet_bar__plus_00_dot_49_bar__plus_02_dot_06_bar__minus_01_dot_69 - receptacle + Cabinet_bar__plus_00_dot_83_bar__plus_00_dot_40_bar__minus_01_dot_39 - receptacle + Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__plus_00_dot_67 - receptacle + Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__minus_00_dot_55 - receptacle + 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Glassbottle_bar__minus_01_dot_84_bar__plus_00_dot_91_bar__plus_00_dot_38 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29) + (inReceptacle Tomato_bar__minus_02_dot_32_bar__plus_00_dot_95_bar__plus_00_dot_38 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29) + (inReceptacle ButterKnife_bar__minus_02_dot_08_bar__plus_00_dot_91_bar__plus_00_dot_03 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29) + (inReceptacle SprayBottle_bar__minus_01_dot_84_bar__plus_00_dot_91_bar__plus_00_dot_12 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29) + (inReceptacle Fork_bar__minus_01_dot_71_bar__plus_00_dot_91_bar__plus_00_dot_46 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29) + (inReceptacle ButterKnife_bar__minus_02_dot_08_bar__plus_00_dot_91_bar__plus_00_dot_46 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29) + (inReceptacle Potato_bar__minus_02_dot_08_bar__plus_00_dot_95_bar__plus_00_dot_55 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29) + (inReceptacle Pot_bar__minus_02_dot_20_bar__plus_00_dot_91_bar__plus_00_dot_12 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29) + (inReceptacle Lettuce_bar__minus_01_dot_71_bar__plus_00_dot_98_bar__plus_00_dot_29 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29) + (inReceptacle Lettuce_bar__minus_01_dot_96_bar__plus_00_dot_98_bar__plus_00_dot_29 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29) + (inReceptacle Spoon_bar__plus_00_dot_70_bar__plus_00_dot_77_bar__minus_01_dot_57 Drawer_bar__plus_00_dot_59_bar__plus_00_dot_75_bar__minus_01_dot_39) + (inReceptacle DishSponge_bar__minus_01_dot_77_bar__plus_00_dot_77_bar__minus_01_dot_53 Drawer_bar__minus_01_dot_80_bar__plus_00_dot_75_bar__minus_01_dot_39) + (inReceptacle Spatula_bar__plus_01_dot_53_bar__plus_01_dot_18_bar__minus_00_dot_66 CounterTop_bar__plus_01_dot_50_bar__plus_01_dot_20_bar__minus_00_dot_66) + (inReceptacle Kettle_bar__plus_01_dot_38_bar__plus_01_dot_16_bar__minus_01_dot_69 CounterTop_bar__plus_01_dot_50_bar__plus_01_dot_20_bar__minus_00_dot_66) + (inReceptacle HousePlant_bar__plus_01_dot_44_bar__plus_01_dot_15_bar__plus_00_dot_59 CounterTop_bar__plus_01_dot_50_bar__plus_01_dot_20_bar__minus_00_dot_66) + (inReceptacle Pen_bar__plus_01_dot_38_bar__plus_01_dot_16_bar__minus_01_dot_00 CounterTop_bar__plus_01_dot_50_bar__plus_01_dot_20_bar__minus_00_dot_66) + (inReceptacle Pot_bar__minus_01_dot_43_bar__plus_00_dot_95_bar__minus_01_dot_53 StoveBurner_bar__minus_01_dot_43_bar__plus_00_dot_94_bar__minus_01_dot_53) + (inReceptacle Pot_bar__minus_01_dot_43_bar__plus_00_dot_95_bar__minus_01_dot_81 StoveBurner_bar__minus_01_dot_43_bar__plus_00_dot_94_bar__minus_01_dot_81) + (inReceptacle Pen_bar__plus_01_dot_38_bar__plus_00_dot_22_bar__plus_01_dot_08 GarbageCan_bar__plus_01_dot_38_bar__plus_00_dot_00_bar__plus_01_dot_08) + (inReceptacle Tomato_bar__plus_01_dot_30_bar__plus_00_dot_25_bar__plus_01_dot_08 GarbageCan_bar__plus_01_dot_38_bar__plus_00_dot_00_bar__plus_01_dot_08) + (inReceptacle DishSponge_bar__plus_01_dot_46_bar__plus_00_dot_21_bar__plus_01_dot_05 GarbageCan_bar__plus_01_dot_38_bar__plus_00_dot_00_bar__plus_01_dot_08) + (inReceptacle Lettuce_bar__plus_01_dot_43_bar__plus_01_dot_44_bar__plus_01_dot_73 Fridge_bar__plus_01_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_10) + (inReceptacle Potato_bar__plus_01_dot_48_bar__plus_01_dot_41_bar__plus_02_dot_23 Fridge_bar__plus_01_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_10) + (inReceptacle Apple_bar__plus_01_dot_28_bar__plus_01_dot_40_bar__plus_02_dot_10 Fridge_bar__plus_01_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_10) + (inReceptacle Cup_bar__plus_01_dot_47_bar__plus_01_dot_27_bar__minus_00_dot_02 Microwave_bar__plus_01_dot_42_bar__plus_01_dot_15_bar__plus_00_dot_02) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_49_bar__plus_02_dot_06_bar__minus_01_dot_69 loc_bar_2_bar__minus_3_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_00_dot_83_bar__plus_00_dot_40_bar__minus_01_dot_39 loc_bar_1_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__plus_00_dot_67 loc_bar_0_bar_0_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__minus_00_dot_55 loc_bar_0_bar__minus_1_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__minus_01_dot_37 loc_bar_0_bar__minus_3_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_16_bar__plus_02_dot_06_bar__minus_00_dot_34 loc_bar_2_bar__minus_3_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_16_bar__plus_02_dot_06_bar__minus_01_dot_02 loc_bar_1_bar__minus_4_bar_1_bar__minus_30) + 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StoveBurner_bar__minus_01_dot_08_bar__plus_00_dot_94_bar__minus_01_dot_81 loc_bar__minus_4_bar__minus_4_bar_2_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_01_dot_43_bar__plus_00_dot_94_bar__minus_01_dot_53 loc_bar__minus_6_bar__minus_4_bar_2_bar_60) + (receptacleAtLocation StoveBurner_bar__minus_01_dot_43_bar__plus_00_dot_94_bar__minus_01_dot_81 loc_bar__minus_6_bar__minus_4_bar_2_bar_45) + (receptacleAtLocation Toaster_bar__minus_02_dot_07_bar__plus_00_dot_90_bar__minus_01_dot_85 loc_bar__minus_10_bar__minus_6_bar_1_bar_60) + (objectAtLocation Spoon_bar__plus_01_dot_26_bar__plus_00_dot_91_bar__plus_00_dot_37 loc_bar_2_bar__minus_4_bar_1_bar_45) + (objectAtLocation DishSponge_bar__plus_01_dot_46_bar__plus_00_dot_21_bar__plus_01_dot_05 loc_bar_1_bar_7_bar_1_bar_60) + (objectAtLocation PepperShaker_bar__minus_01_dot_89_bar__plus_00_dot_91_bar__minus_01_dot_71 loc_bar__minus_8_bar__minus_4_bar_2_bar_45) + (objectAtLocation ButterKnife_bar__minus_00_dot_40_bar__plus_00_dot_91_bar__minus_01_dot_87 loc_bar_2_bar__minus_4_bar_1_bar_45) + (objectAtLocation Pot_bar__minus_01_dot_43_bar__plus_00_dot_95_bar__minus_01_dot_81 loc_bar__minus_6_bar__minus_4_bar_2_bar_45) + (objectAtLocation Pan_bar__minus_01_dot_08_bar__plus_00_dot_95_bar__minus_01_dot_53 loc_bar__minus_4_bar__minus_4_bar_2_bar_60) + (objectAtLocation Spatula_bar__plus_01_dot_53_bar__plus_01_dot_18_bar__minus_00_dot_66 loc_bar_2_bar__minus_4_bar_1_bar_30) + (objectAtLocation Egg_bar__plus_00_dot_22_bar__plus_00_dot_95_bar__minus_01_dot_86 loc_bar__minus_1_bar__minus_4_bar_2_bar_45) + (objectAtLocation Cup_bar__minus_01_dot_89_bar__plus_00_dot_91_bar__minus_01_dot_97 loc_bar__minus_8_bar__minus_4_bar_2_bar_45) + (objectAtLocation Pen_bar__plus_01_dot_38_bar__plus_00_dot_22_bar__plus_01_dot_08 loc_bar_1_bar_7_bar_1_bar_60) + (objectAtLocation Lettuce_bar__minus_01_dot_96_bar__plus_00_dot_98_bar__plus_00_dot_29 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+ ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-ButterKnife-None-Drawer-8/trial_T20190907_142645_859732/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-ButterKnife-None-Drawer-8/trial_T20190907_142645_859732/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..0fb10fc4efd1bb9710f4a3d77cef0a0f0d3bc65f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-ButterKnife-None-Drawer-8/trial_T20190907_142645_859732/traj_data.json @@ -0,0 +1,3146 @@ +{ + "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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"SprayBottle_abf5c390", + "position": { + "x": -1.835049, + "y": 0.909904063, + "z": 0.118500233 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_c0048524", + "position": { + "x": -1.07936192, + "y": 0.94527024, + "z": -1.52895641 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_c69c5340", + "position": { + "x": 1.20748782, + "y": 0.114828229, + "z": -0.7362524 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pot_316d55f0", + "position": { + "x": -1.431, + "y": 0.949799955, + "z": -1.81 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_7cca838f", + "position": { + "x": -0.4018854, + "y": 0.911342, + "z": -1.87489557 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_1de14ecd", + "position": { + "x": -1.88603711, + "y": 0.9055, + "z": -1.707 + }, + "rotation": { + "x": 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"task_id": "trial_T20190907_142645_859732", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1NWXL4QO30M8U_3EFVCAY5L6QE3YY15HT8UBI3WTYJ8L", + "high_descs": [ + "Turn around and walk across the room to the counter.", + "Pick up the knife next to the sink.", + "Turn to the left. ", + "Open the drawer on the right, to the left of the sink, and place the knife inside. " + ], + "task_desc": "To put the knife in the drawer. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3HL2LL0LEPZT8_3HSYG7LRBMFT9J6KWRQNLVR75HDKKM", + "high_descs": [ + "Turn around, go straight to the counter to the right of the sink.", + "Take the knife that is close to the wall on the counter.", + "Turn to the left.", + "Open drawer next to the corner on the right under the counter, put the knife at the front of the drawer." + ], + "task_desc": "Put a knife in a drawer.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3MLUEOP3CCLXL_3V5Q80FXI08SW5UNMFSK4DOBEWP32V", + "high_descs": [ + "Turn around and head to the counter that is directly in front of you", + "Pick up the knife that is on the counter in between the sink and stove", + "Turn left and open the drawer on the left of the sink", + "Place the knife in the drawer and close the drawer" + ], + "task_desc": "Place a knife in a drawer", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-ButterKnife-None-Drawer-8/trial_T20190918_144242_057762/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-ButterKnife-None-Drawer-8/trial_T20190918_144242_057762/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..1ca26cee6be3a187886f4aa8e0c3e5f224b8650d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-ButterKnife-None-Drawer-8/trial_T20190918_144242_057762/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 butterknife on drawer.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190918_144242_057762)\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_15_bar__plus_00_dot_95_bar__minus_01_dot_66 - object\n Apple_bar__plus_01_dot_38_bar__plus_01_dot_30_bar__minus_00_dot_02 - object\n Apple_bar__plus_01_dot_48_bar__plus_01_dot_40_bar__plus_02_dot_35 - object\n Bowl_bar__minus_01_dot_04_bar__plus_01_dot_85_bar__minus_01_dot_84 - object\n Bread_bar__plus_01_dot_16_bar__plus_00_dot_98_bar__minus_00_dot_16 - object\n ButterKnife_bar__minus_00_dot_63_bar__plus_00_dot_91_bar__minus_01_dot_79 - object\n Chair_bar__minus_01_dot_99_bar__plus_00_dot_02_bar__plus_00_dot_88 - object\n Cup_bar__plus_01_dot_39_bar__plus_01_dot_72_bar__plus_01_dot_71 - object\n Cup_bar__plus_01_dot_48_bar__plus_01_dot_37_bar__plus_02_dot_48 - object\n DishSponge_bar__minus_02_dot_32_bar__plus_00_dot_91_bar__plus_00_dot_55 - object\n Egg_bar__plus_01_dot_37_bar__plus_01_dot_85_bar__plus_02_dot_43 - object\n Egg_bar__minus_00_dot_02_bar__plus_00_dot_81_bar__minus_01_dot_63 - object\n Faucet_bar__minus_00_dot_10_bar__plus_01_dot_04_bar__minus_01_dot_87 - object\n Fork_bar__plus_01_dot_02_bar__plus_00_dot_78_bar__minus_01_dot_01 - object\n Fork_bar__plus_01_dot_41_bar__plus_01_dot_16_bar__minus_01_dot_35 - object\n Fork_bar__minus_01_dot_71_bar__plus_00_dot_91_bar__plus_00_dot_38 - object\n Glassbottle_bar__plus_01_dot_21_bar__plus_00_dot_12_bar__minus_00_dot_74 - object\n Glassbottle_bar__minus_01_dot_73_bar__plus_00_dot_91_bar__minus_01_dot_45 - object\n HousePlant_bar__plus_01_dot_44_bar__plus_01_dot_15_bar__plus_00_dot_59 - object\n Kettle_bar__minus_01_dot_08_bar__plus_00_dot_95_bar__minus_01_dot_81 - object\n Knife_bar__plus_00_dot_94_bar__plus_00_dot_80_bar__plus_00_dot_49 - object\n Ladle_bar__minus_01_dot_96_bar__plus_00_dot_95_bar__plus_00_dot_20 - object\n Lettuce_bar__plus_01_dot_34_bar__plus_00_dot_98_bar__minus_00_dot_99 - object\n Lettuce_bar__minus_01_dot_84_bar__plus_00_dot_98_bar__plus_00_dot_29 - object\n LightSwitch_bar__minus_02_dot_54_bar__plus_01_dot_29_bar__plus_02_dot_57 - object\n Mug_bar__plus_01_dot_22_bar__plus_01_dot_65_bar__minus_01_dot_11 - object\n Pan_bar__plus_01_dot_04_bar__plus_00_dot_11_bar__minus_01_dot_13 - object\n Pan_bar__minus_01_dot_08_bar__plus_00_dot_95_bar__minus_01_dot_53 - object\n Pan_bar__minus_01_dot_43_bar__plus_00_dot_95_bar__minus_01_dot_81 - object\n Pen_bar__plus_00_dot_53_bar__plus_00_dot_78_bar__minus_01_dot_50 - object\n Pen_bar__minus_02_dot_08_bar__plus_00_dot_91_bar__plus_00_dot_46 - object\n PepperShaker_bar__minus_00_dot_48_bar__plus_00_dot_91_bar__minus_01_dot_45 - object\n Plate_bar__plus_01_dot_34_bar__plus_01_dot_66_bar__minus_00_dot_74 - object\n Plate_bar__minus_02_dot_32_bar__plus_00_dot_91_bar__plus_00_dot_20 - object\n Potato_bar__plus_01_dot_43_bar__plus_01_dot_41_bar__plus_01_dot_98 - object\n Potato_bar__minus_00_dot_55_bar__plus_00_dot_95_bar__minus_01_dot_62 - object\n Pot_bar__plus_00_dot_97_bar__plus_00_dot_90_bar__plus_00_dot_25 - object\n SaltShaker_bar__plus_01_dot_41_bar__plus_01_dot_16_bar__minus_01_dot_00 - object\n SaltShaker_bar__minus_02_dot_20_bar__plus_00_dot_91_bar__plus_00_dot_03 - object\n 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loc_bar__minus_6_bar__minus_4_bar_2_bar_45 - location\n loc_bar_2_bar__minus_4_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_4_bar_1_bar_60 - location\n loc_bar__minus_6_bar__minus_4_bar_2_bar_30 - location\n loc_bar__minus_4_bar__minus_3_bar_2_bar_60 - location\n loc_bar_1_bar__minus_4_bar_1_bar_60 - location\n loc_bar_0_bar__minus_3_bar_1_bar_45 - location\n loc_bar__minus_5_bar__minus_2_bar_2_bar__minus_15 - location\n loc_bar__minus_5_bar__minus_4_bar_2_bar_30 - location\n loc_bar__minus_4_bar__minus_2_bar_2_bar__minus_15 - location\n loc_bar_2_bar__minus_3_bar_2_bar__minus_30 - location\n loc_bar__minus_8_bar__minus_2_bar_0_bar_45 - location\n loc_bar__minus_4_bar__minus_4_bar_2_bar_45 - location\n loc_bar_1_bar__minus_4_bar_1_bar__minus_30 - location\n loc_bar__minus_1_bar__minus_2_bar_2_bar_60 - location\n loc_bar_0_bar__minus_3_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_4_bar_3_bar_60 - location\n loc_bar__minus_1_bar__minus_4_bar_1_bar_45 - location\n loc_bar_1_bar_7_bar_1_bar_60 - location\n loc_bar_2_bar__minus_3_bar_1_bar__minus_30 - location\n loc_bar__minus_4_bar__minus_4_bar_2_bar_60 - location\n loc_bar__minus_8_bar__minus_4_bar_2_bar__minus_30 - location\n loc_bar_2_bar__minus_4_bar_1_bar_30 - location\n loc_bar__minus_6_bar__minus_4_bar_2_bar_60 - location\n loc_bar__minus_5_bar_8_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__minus_02_dot_11_bar__plus_00_dot_75_bar__minus_01_dot_39 DrawerType)\n (receptacleType CoffeeMachine_bar__plus_01_dot_09_bar__plus_00_dot_90_bar__minus_01_dot_88 CoffeeMachineType)\n (receptacleType CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29 CounterTopType)\n (receptacleType StoveBurner_bar__minus_01_dot_08_bar__plus_00_dot_94_bar__minus_01_dot_81 StoveBurnerType)\n (receptacleType Microwave_bar__plus_01_dot_42_bar__plus_01_dot_15_bar__plus_00_dot_02 MicrowaveType)\n (receptacleType 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Bread_bar__plus_01_dot_16_bar__plus_00_dot_98_bar__minus_00_dot_16)\n (sliceable Egg_bar__plus_01_dot_37_bar__plus_01_dot_85_bar__plus_02_dot_43)\n (sliceable Apple_bar__plus_01_dot_48_bar__plus_01_dot_40_bar__plus_02_dot_35)\n (sliceable Lettuce_bar__minus_01_dot_84_bar__plus_00_dot_98_bar__plus_00_dot_29)\n (sliceable Apple_bar__plus_00_dot_15_bar__plus_00_dot_95_bar__minus_01_dot_66)\n (sliceable Lettuce_bar__plus_01_dot_34_bar__plus_00_dot_98_bar__minus_00_dot_99)\n (sliceable Potato_bar__plus_01_dot_43_bar__plus_01_dot_41_bar__plus_01_dot_98)\n (sliceable Tomato_bar__plus_00_dot_18_bar__plus_00_dot_96_bar__minus_01_dot_81)\n (sliceable Egg_bar__minus_00_dot_02_bar__plus_00_dot_81_bar__minus_01_dot_63)\n (sliceable Potato_bar__minus_00_dot_55_bar__plus_00_dot_95_bar__minus_01_dot_62)\n (sliceable Apple_bar__plus_01_dot_38_bar__plus_01_dot_30_bar__minus_00_dot_02)\n (sliceable Tomato_bar__plus_01_dot_42_bar__plus_00_dot_25_bar__plus_01_dot_02)\n \n (inReceptacle 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Cabinet_bar__plus_01_dot_16_bar__plus_02_dot_06_bar__minus_00_dot_34)\n (inReceptacle SoapBottle_bar__plus_00_dot_97_bar__plus_01_dot_66_bar__minus_01_dot_84 Cabinet_bar__plus_00_dot_49_bar__plus_02_dot_06_bar__minus_01_dot_69)\n (inReceptacle Mug_bar__plus_01_dot_22_bar__plus_01_dot_65_bar__minus_01_dot_11 Cabinet_bar__plus_01_dot_16_bar__plus_02_dot_06_bar__minus_01_dot_02)\n (inReceptacle SprayBottle_bar__minus_01_dot_52_bar__plus_01_dot_86_bar__minus_01_dot_87 Cabinet_bar__minus_01_dot_61_bar__plus_02_dot_01_bar__minus_01_dot_69)\n (inReceptacle Kettle_bar__minus_01_dot_08_bar__plus_00_dot_95_bar__minus_01_dot_81 StoveBurner_bar__minus_01_dot_08_bar__plus_00_dot_94_bar__minus_01_dot_81)\n (inReceptacle Spoon_bar__minus_01_dot_96_bar__plus_00_dot_91_bar__minus_01_dot_53 CounterTop_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__minus_01_dot_71)\n (inReceptacle SprayBottle_bar__minus_01_dot_89_bar__plus_00_dot_91_bar__minus_01_dot_62 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loc_bar__minus_8_bar__minus_2_bar_0_bar_45)\n (objectAtLocation SaltShaker_bar__minus_02_dot_20_bar__plus_00_dot_91_bar__plus_00_dot_03 loc_bar__minus_8_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Cup_bar__plus_01_dot_39_bar__plus_01_dot_72_bar__plus_01_dot_71 loc_bar_2_bar_9_bar_1_bar_60)\n (objectAtLocation Window_bar__minus_00_dot_49_bar__plus_01_dot_45_bar__plus_03_dot_30 loc_bar__minus_2_bar_11_bar_0_bar_15)\n (objectAtLocation Egg_bar__plus_01_dot_37_bar__plus_01_dot_85_bar__plus_02_dot_43 loc_bar_2_bar_9_bar_1_bar_60)\n (objectAtLocation Spatula_bar__plus_01_dot_49_bar__plus_01_dot_18_bar__minus_01_dot_69 loc_bar_2_bar__minus_4_bar_1_bar_30)\n (objectAtLocation Bowl_bar__minus_01_dot_04_bar__plus_01_dot_85_bar__minus_01_dot_84 loc_bar__minus_5_bar__minus_2_bar_2_bar__minus_15)\n (objectAtLocation SprayBottle_bar__plus_00_dot_93_bar__plus_00_dot_91_bar__plus_00_dot_03 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Pan_bar__minus_01_dot_08_bar__plus_00_dot_95_bar__minus_01_dot_53 loc_bar__minus_4_bar__minus_4_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__plus_00_dot_98_bar__plus_00_dot_12_bar__plus_00_dot_61 loc_bar_0_bar_0_bar_1_bar_60)\n (objectAtLocation Pot_bar__plus_00_dot_97_bar__plus_00_dot_90_bar__plus_00_dot_25 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_63_bar__plus_00_dot_91_bar__minus_01_dot_79 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_48_bar__plus_00_dot_91_bar__minus_01_dot_45 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__minus_02_dot_32_bar__plus_00_dot_91_bar__plus_00_dot_55 loc_bar__minus_8_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Bread_bar__plus_01_dot_16_bar__plus_00_dot_98_bar__minus_00_dot_16 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Apple_bar__plus_01_dot_38_bar__plus_01_dot_30_bar__minus_00_dot_02 loc_bar_2_bar_0_bar_1_bar_30)\n (objectAtLocation Spoon_bar__plus_00_dot_32_bar__plus_00_dot_92_bar__minus_01_dot_71 loc_bar__minus_1_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Mug_bar__plus_01_dot_22_bar__plus_01_dot_65_bar__minus_01_dot_11 loc_bar_1_bar__minus_4_bar_1_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 ButterKnifeType)\n (receptacleType ?r DrawerType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 2", "take butterknife 1 from countertop 2", "go to drawer 1", "open drawer 1", "move butterknife 1 to drawer 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-ButterKnife-None-Drawer-8/trial_T20190918_144242_057762/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-ButterKnife-None-Drawer-8/trial_T20190918_144242_057762/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..7c07ecd4f9483a7e1d3df309e313970f32f5eff6 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-ButterKnife-None-Drawer-8/trial_T20190918_144242_057762/initial_state.pddl @@ -0,0 +1,1280 @@ + +(define (problem plan_trial_T20190918_144242_057762) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_15_bar__plus_00_dot_95_bar__minus_01_dot_66 - object + Apple_bar__plus_01_dot_38_bar__plus_01_dot_30_bar__minus_00_dot_02 - object + Apple_bar__plus_01_dot_48_bar__plus_01_dot_40_bar__plus_02_dot_35 - object + Bowl_bar__minus_01_dot_04_bar__plus_01_dot_85_bar__minus_01_dot_84 - object + Bread_bar__plus_01_dot_16_bar__plus_00_dot_98_bar__minus_00_dot_16 - object + ButterKnife_bar__minus_00_dot_63_bar__plus_00_dot_91_bar__minus_01_dot_79 - object + Chair_bar__minus_01_dot_99_bar__plus_00_dot_02_bar__plus_00_dot_88 - object + Cup_bar__plus_01_dot_39_bar__plus_01_dot_72_bar__plus_01_dot_71 - object + Cup_bar__plus_01_dot_48_bar__plus_01_dot_37_bar__plus_02_dot_48 - object + DishSponge_bar__minus_02_dot_32_bar__plus_00_dot_91_bar__plus_00_dot_55 - object + Egg_bar__plus_01_dot_37_bar__plus_01_dot_85_bar__plus_02_dot_43 - object + Egg_bar__minus_00_dot_02_bar__plus_00_dot_81_bar__minus_01_dot_63 - object + Faucet_bar__minus_00_dot_10_bar__plus_01_dot_04_bar__minus_01_dot_87 - object + Fork_bar__plus_01_dot_02_bar__plus_00_dot_78_bar__minus_01_dot_01 - object + Fork_bar__plus_01_dot_41_bar__plus_01_dot_16_bar__minus_01_dot_35 - object + Fork_bar__minus_01_dot_71_bar__plus_00_dot_91_bar__plus_00_dot_38 - object + Glassbottle_bar__plus_01_dot_21_bar__plus_00_dot_12_bar__minus_00_dot_74 - object + Glassbottle_bar__minus_01_dot_73_bar__plus_00_dot_91_bar__minus_01_dot_45 - object + HousePlant_bar__plus_01_dot_44_bar__plus_01_dot_15_bar__plus_00_dot_59 - object + Kettle_bar__minus_01_dot_08_bar__plus_00_dot_95_bar__minus_01_dot_81 - object + Knife_bar__plus_00_dot_94_bar__plus_00_dot_80_bar__plus_00_dot_49 - object + Ladle_bar__minus_01_dot_96_bar__plus_00_dot_95_bar__plus_00_dot_20 - object + Lettuce_bar__plus_01_dot_34_bar__plus_00_dot_98_bar__minus_00_dot_99 - object + Lettuce_bar__minus_01_dot_84_bar__plus_00_dot_98_bar__plus_00_dot_29 - object + LightSwitch_bar__minus_02_dot_54_bar__plus_01_dot_29_bar__plus_02_dot_57 - object + Mug_bar__plus_01_dot_22_bar__plus_01_dot_65_bar__minus_01_dot_11 - object + Pan_bar__plus_01_dot_04_bar__plus_00_dot_11_bar__minus_01_dot_13 - object + Pan_bar__minus_01_dot_08_bar__plus_00_dot_95_bar__minus_01_dot_53 - object + Pan_bar__minus_01_dot_43_bar__plus_00_dot_95_bar__minus_01_dot_81 - object + Pen_bar__plus_00_dot_53_bar__plus_00_dot_78_bar__minus_01_dot_50 - object + Pen_bar__minus_02_dot_08_bar__plus_00_dot_91_bar__plus_00_dot_46 - object + PepperShaker_bar__minus_00_dot_48_bar__plus_00_dot_91_bar__minus_01_dot_45 - object + Plate_bar__plus_01_dot_34_bar__plus_01_dot_66_bar__minus_00_dot_74 - object + Plate_bar__minus_02_dot_32_bar__plus_00_dot_91_bar__plus_00_dot_20 - object + Potato_bar__plus_01_dot_43_bar__plus_01_dot_41_bar__plus_01_dot_98 - object + Potato_bar__minus_00_dot_55_bar__plus_00_dot_95_bar__minus_01_dot_62 - object + Pot_bar__plus_00_dot_97_bar__plus_00_dot_90_bar__plus_00_dot_25 - object + SaltShaker_bar__plus_01_dot_41_bar__plus_01_dot_16_bar__minus_01_dot_00 - object + SaltShaker_bar__minus_02_dot_20_bar__plus_00_dot_91_bar__plus_00_dot_03 - object + Sink_bar__plus_00_dot_16_bar__plus_00_dot_82_bar__minus_01_dot_80 - object + SoapBottle_bar__plus_00_dot_97_bar__plus_01_dot_66_bar__minus_01_dot_84 - object + SoapBottle_bar__plus_00_dot_98_bar__plus_00_dot_12_bar__plus_00_dot_61 - object + SoapBottle_bar__plus_01_dot_30_bar__plus_00_dot_21_bar__plus_01_dot_14 - object + Spatula_bar__plus_01_dot_49_bar__plus_01_dot_18_bar__minus_01_dot_69 - object + Spatula_bar__minus_02_dot_20_bar__plus_00_dot_93_bar__plus_00_dot_38 - object + Spoon_bar__plus_00_dot_32_bar__plus_00_dot_92_bar__minus_01_dot_71 - object + Spoon_bar__minus_01_dot_96_bar__plus_00_dot_91_bar__minus_01_dot_53 - object + SprayBottle_bar__plus_00_dot_93_bar__plus_00_dot_91_bar__plus_00_dot_03 - object + SprayBottle_bar__minus_01_dot_52_bar__plus_01_dot_86_bar__minus_01_dot_87 - object + SprayBottle_bar__minus_01_dot_89_bar__plus_00_dot_91_bar__minus_01_dot_62 - object + StoveKnob_bar__minus_00_dot_96_bar__plus_01_dot_10_bar__minus_01_dot_98 - object + StoveKnob_bar__minus_01_dot_11_bar__plus_01_dot_10_bar__minus_01_dot_98 - object + StoveKnob_bar__minus_01_dot_36_bar__plus_01_dot_10_bar__minus_01_dot_98 - object + StoveKnob_bar__minus_01_dot_52_bar__plus_01_dot_10_bar__minus_01_dot_98 - object + Tomato_bar__plus_00_dot_18_bar__plus_00_dot_96_bar__minus_01_dot_81 - object + Tomato_bar__plus_01_dot_42_bar__plus_00_dot_25_bar__plus_01_dot_02 - object + Window_bar__minus_00_dot_49_bar__plus_01_dot_45_bar__plus_03_dot_30 - object + Cabinet_bar__plus_00_dot_49_bar__plus_02_dot_06_bar__minus_01_dot_69 - receptacle + Cabinet_bar__plus_00_dot_83_bar__plus_00_dot_40_bar__minus_01_dot_39 - receptacle + Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__plus_00_dot_67 - receptacle + Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__minus_00_dot_55 - receptacle + Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__minus_01_dot_37 - receptacle + Cabinet_bar__plus_01_dot_16_bar__plus_02_dot_06_bar__minus_00_dot_34 - receptacle + Cabinet_bar__plus_01_dot_16_bar__plus_02_dot_06_bar__minus_01_dot_02 - receptacle + Cabinet_bar__minus_00_dot_19_bar__plus_02_dot_06_bar__minus_01_dot_69 - receptacle + Cabinet_bar__minus_00_dot_20_bar__plus_00_dot_40_bar__minus_01_dot_39 - receptacle + Cabinet_bar__minus_00_dot_24_bar__plus_00_dot_40_bar__minus_01_dot_39 - receptacle + Cabinet_bar__minus_00_dot_69_bar__plus_00_dot_75_bar__minus_01_dot_39 - receptacle + Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_39 - receptacle + Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_06_bar__minus_01_dot_69 - receptacle + Cabinet_bar__minus_00_dot_87_bar__plus_02_dot_01_bar__minus_01_dot_69 - receptacle + Cabinet_bar__minus_01_dot_61_bar__plus_02_dot_01_bar__minus_01_dot_69 - receptacle + Cabinet_bar__minus_01_dot_66_bar__plus_02_dot_06_bar__minus_01_dot_68 - receptacle + Cabinet_bar__minus_01_dot_67_bar__plus_00_dot_40_bar__minus_01_dot_39 - receptacle + Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_40_bar__minus_01_dot_39 - receptacle + CoffeeMachine_bar__plus_01_dot_09_bar__plus_00_dot_90_bar__minus_01_dot_88 - receptacle + CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65 - receptacle + CounterTop_bar__plus_01_dot_50_bar__plus_01_dot_20_bar__minus_00_dot_66 - receptacle + CounterTop_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__minus_01_dot_71 - receptacle + CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29 - receptacle + Drawer_bar__plus_00_dot_59_bar__plus_00_dot_75_bar__minus_01_dot_39 - receptacle + Drawer_bar__plus_00_dot_86_bar__plus_00_dot_75_bar__plus_00_dot_43 - receptacle + Drawer_bar__plus_00_dot_86_bar__plus_00_dot_75_bar__minus_00_dot_70 - receptacle + Drawer_bar__plus_00_dot_87_bar__plus_00_dot_75_bar__minus_01_dot_14 - receptacle + Drawer_bar__minus_00_dot_38_bar__plus_00_dot_75_bar__minus_01_dot_39 - receptacle + Drawer_bar__minus_01_dot_80_bar__plus_00_dot_75_bar__minus_01_dot_39 - receptacle + Drawer_bar__minus_02_dot_11_bar__plus_00_dot_75_bar__minus_01_dot_39 - receptacle + Fridge_bar__plus_01_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_10 - receptacle + GarbageCan_bar__plus_01_dot_38_bar__plus_00_dot_00_bar__plus_01_dot_08 - receptacle + Microwave_bar__plus_01_dot_42_bar__plus_01_dot_15_bar__plus_00_dot_02 - receptacle + Sink_bar__plus_00_dot_16_bar__plus_00_dot_82_bar__minus_01_dot_80_bar_SinkBasin - receptacle + StoveBurner_bar__minus_01_dot_08_bar__plus_00_dot_94_bar__minus_01_dot_53 - receptacle + StoveBurner_bar__minus_01_dot_08_bar__plus_00_dot_94_bar__minus_01_dot_81 - receptacle + StoveBurner_bar__minus_01_dot_43_bar__plus_00_dot_94_bar__minus_01_dot_53 - receptacle + StoveBurner_bar__minus_01_dot_43_bar__plus_00_dot_94_bar__minus_01_dot_81 - receptacle + Toaster_bar__minus_02_dot_07_bar__plus_00_dot_90_bar__minus_01_dot_85 - receptacle + loc_bar_1_bar_1_bar_1_bar_60 - location + loc_bar_1_bar__minus_4_bar_2_bar__minus_30 - location + loc_bar__minus_1_bar__minus_4_bar_2_bar_45 - location + loc_bar_2_bar_0_bar_1_bar_30 - location + loc_bar__minus_3_bar__minus_2_bar_2_bar_60 - location + loc_bar__minus_8_bar_10_bar_3_bar_30 - location + loc_bar__minus_2_bar_11_bar_0_bar_15 - location + loc_bar_2_bar__minus_2_bar_2_bar_60 - location + loc_bar__minus_8_bar__minus_4_bar_2_bar_45 - location + loc_bar_2_bar_9_bar_1_bar_60 - location + loc_bar_0_bar_0_bar_1_bar_60 - location + loc_bar_0_bar__minus_1_bar_1_bar_60 - location + loc_bar__minus_6_bar__minus_2_bar_2_bar_60 - location + loc_bar__minus_10_bar__minus_6_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_4_bar_2_bar_30 - location + loc_bar__minus_6_bar__minus_4_bar_3_bar_60 - location + loc_bar__minus_8_bar_5_bar_2_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_2_bar__minus_30 - location + loc_bar_2_bar__minus_4_bar_2_bar_45 - location + loc_bar_1_bar__minus_2_bar_2_bar_60 - location + loc_bar__minus_6_bar__minus_4_bar_2_bar_45 - location + loc_bar_2_bar__minus_4_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_4_bar_1_bar_60 - location + loc_bar__minus_6_bar__minus_4_bar_2_bar_30 - location + loc_bar__minus_4_bar__minus_3_bar_2_bar_60 - location + loc_bar_1_bar__minus_4_bar_1_bar_60 - location + loc_bar_0_bar__minus_3_bar_1_bar_45 - location + loc_bar__minus_5_bar__minus_2_bar_2_bar__minus_15 - location + loc_bar__minus_5_bar__minus_4_bar_2_bar_30 - location + loc_bar__minus_4_bar__minus_2_bar_2_bar__minus_15 - location + loc_bar_2_bar__minus_3_bar_2_bar__minus_30 - location + loc_bar__minus_8_bar__minus_2_bar_0_bar_45 - location + loc_bar__minus_4_bar__minus_4_bar_2_bar_45 - location + loc_bar_1_bar__minus_4_bar_1_bar__minus_30 - location + loc_bar__minus_1_bar__minus_2_bar_2_bar_60 - location + loc_bar_0_bar__minus_3_bar_1_bar_60 - location + loc_bar__minus_5_bar__minus_4_bar_3_bar_60 - location + loc_bar__minus_1_bar__minus_4_bar_1_bar_45 - location + loc_bar_1_bar_7_bar_1_bar_60 - location + loc_bar_2_bar__minus_3_bar_1_bar__minus_30 - location + loc_bar__minus_4_bar__minus_4_bar_2_bar_60 - location + loc_bar__minus_8_bar__minus_4_bar_2_bar__minus_30 - location + loc_bar_2_bar__minus_4_bar_1_bar_30 - location + loc_bar__minus_6_bar__minus_4_bar_2_bar_60 - location + loc_bar__minus_5_bar_8_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType 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Egg_bar__minus_00_dot_02_bar__plus_00_dot_81_bar__minus_01_dot_63) + (coolable Potato_bar__minus_00_dot_55_bar__plus_00_dot_95_bar__minus_01_dot_62) + (coolable Pot_bar__plus_00_dot_97_bar__plus_00_dot_90_bar__plus_00_dot_25) + (coolable Apple_bar__plus_01_dot_38_bar__plus_01_dot_30_bar__minus_00_dot_02) + (coolable Tomato_bar__plus_01_dot_42_bar__plus_00_dot_25_bar__plus_01_dot_02) + (coolable Mug_bar__plus_01_dot_22_bar__plus_01_dot_65_bar__minus_01_dot_11) + (coolable Plate_bar__minus_02_dot_32_bar__plus_00_dot_91_bar__plus_00_dot_20) + + + + + + (sliceable Bread_bar__plus_01_dot_16_bar__plus_00_dot_98_bar__minus_00_dot_16) + (sliceable Egg_bar__plus_01_dot_37_bar__plus_01_dot_85_bar__plus_02_dot_43) + (sliceable Apple_bar__plus_01_dot_48_bar__plus_01_dot_40_bar__plus_02_dot_35) + (sliceable Lettuce_bar__minus_01_dot_84_bar__plus_00_dot_98_bar__plus_00_dot_29) + (sliceable Apple_bar__plus_00_dot_15_bar__plus_00_dot_95_bar__minus_01_dot_66) + (sliceable Lettuce_bar__plus_01_dot_34_bar__plus_00_dot_98_bar__minus_00_dot_99) + (sliceable Potato_bar__plus_01_dot_43_bar__plus_01_dot_41_bar__plus_01_dot_98) + (sliceable Tomato_bar__plus_00_dot_18_bar__plus_00_dot_96_bar__minus_01_dot_81) + (sliceable Egg_bar__minus_00_dot_02_bar__plus_00_dot_81_bar__minus_01_dot_63) + (sliceable Potato_bar__minus_00_dot_55_bar__plus_00_dot_95_bar__minus_01_dot_62) + (sliceable Apple_bar__plus_01_dot_38_bar__plus_01_dot_30_bar__minus_00_dot_02) + (sliceable Tomato_bar__plus_01_dot_42_bar__plus_00_dot_25_bar__plus_01_dot_02) + + (inReceptacle Knife_bar__plus_00_dot_94_bar__plus_00_dot_80_bar__plus_00_dot_49 Drawer_bar__plus_00_dot_86_bar__plus_00_dot_75_bar__plus_00_dot_43) + (inReceptacle Fork_bar__plus_01_dot_02_bar__plus_00_dot_78_bar__minus_01_dot_01 Drawer_bar__plus_00_dot_87_bar__plus_00_dot_75_bar__minus_01_dot_14) + (inReceptacle Bowl_bar__minus_01_dot_04_bar__plus_01_dot_85_bar__minus_01_dot_84 Cabinet_bar__minus_00_dot_87_bar__plus_02_dot_01_bar__minus_01_dot_69) + (inReceptacle SoapBottle_bar__plus_00_dot_98_bar__plus_00_dot_12_bar__plus_00_dot_61 Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__plus_00_dot_67) + (inReceptacle Glassbottle_bar__plus_01_dot_21_bar__plus_00_dot_12_bar__minus_00_dot_74 Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__minus_00_dot_55) + (inReceptacle Pan_bar__plus_01_dot_04_bar__plus_00_dot_11_bar__minus_01_dot_13 Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__minus_01_dot_37) + (inReceptacle Plate_bar__plus_01_dot_34_bar__plus_01_dot_66_bar__minus_00_dot_74 Cabinet_bar__plus_01_dot_16_bar__plus_02_dot_06_bar__minus_00_dot_34) + (inReceptacle SoapBottle_bar__plus_00_dot_97_bar__plus_01_dot_66_bar__minus_01_dot_84 Cabinet_bar__plus_00_dot_49_bar__plus_02_dot_06_bar__minus_01_dot_69) + (inReceptacle Mug_bar__plus_01_dot_22_bar__plus_01_dot_65_bar__minus_01_dot_11 Cabinet_bar__plus_01_dot_16_bar__plus_02_dot_06_bar__minus_01_dot_02) + (inReceptacle SprayBottle_bar__minus_01_dot_52_bar__plus_01_dot_86_bar__minus_01_dot_87 Cabinet_bar__minus_01_dot_61_bar__plus_02_dot_01_bar__minus_01_dot_69) + (inReceptacle Kettle_bar__minus_01_dot_08_bar__plus_00_dot_95_bar__minus_01_dot_81 StoveBurner_bar__minus_01_dot_08_bar__plus_00_dot_94_bar__minus_01_dot_81) + (inReceptacle Spoon_bar__minus_01_dot_96_bar__plus_00_dot_91_bar__minus_01_dot_53 CounterTop_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__minus_01_dot_71) + (inReceptacle SprayBottle_bar__minus_01_dot_89_bar__plus_00_dot_91_bar__minus_01_dot_62 CounterTop_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__minus_01_dot_71) + (inReceptacle Glassbottle_bar__minus_01_dot_73_bar__plus_00_dot_91_bar__minus_01_dot_45 CounterTop_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__minus_01_dot_71) + (inReceptacle PepperShaker_bar__minus_00_dot_48_bar__plus_00_dot_91_bar__minus_01_dot_45 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65) + (inReceptacle ButterKnife_bar__minus_00_dot_63_bar__plus_00_dot_91_bar__minus_01_dot_79 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65) + (inReceptacle SprayBottle_bar__plus_00_dot_93_bar__plus_00_dot_91_bar__plus_00_dot_03 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65) + (inReceptacle Potato_bar__minus_00_dot_55_bar__plus_00_dot_95_bar__minus_01_dot_62 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65) + (inReceptacle Lettuce_bar__plus_01_dot_34_bar__plus_00_dot_98_bar__minus_00_dot_99 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65) + (inReceptacle Sink_bar__plus_00_dot_16_bar__plus_00_dot_82_bar__minus_01_dot_80 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65) + (inReceptacle Pot_bar__plus_00_dot_97_bar__plus_00_dot_90_bar__plus_00_dot_25 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65) + (inReceptacle Bread_bar__plus_01_dot_16_bar__plus_00_dot_98_bar__minus_00_dot_16 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65) + (inReceptacle Pan_bar__minus_01_dot_08_bar__plus_00_dot_95_bar__minus_01_dot_53 StoveBurner_bar__minus_01_dot_08_bar__plus_00_dot_94_bar__minus_01_dot_53) + (inReceptacle DishSponge_bar__minus_02_dot_32_bar__plus_00_dot_91_bar__plus_00_dot_55 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29) + (inReceptacle Lettuce_bar__minus_01_dot_84_bar__plus_00_dot_98_bar__plus_00_dot_29 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29) + (inReceptacle Ladle_bar__minus_01_dot_96_bar__plus_00_dot_95_bar__plus_00_dot_20 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29) + (inReceptacle Fork_bar__minus_01_dot_71_bar__plus_00_dot_91_bar__plus_00_dot_38 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29) + (inReceptacle Spatula_bar__minus_02_dot_20_bar__plus_00_dot_93_bar__plus_00_dot_38 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29) + (inReceptacle Pen_bar__minus_02_dot_08_bar__plus_00_dot_91_bar__plus_00_dot_46 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29) + (inReceptacle Plate_bar__minus_02_dot_32_bar__plus_00_dot_91_bar__plus_00_dot_20 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29) + (inReceptacle SaltShaker_bar__minus_02_dot_20_bar__plus_00_dot_91_bar__plus_00_dot_03 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29) + (inReceptacle Pen_bar__plus_00_dot_53_bar__plus_00_dot_78_bar__minus_01_dot_50 Drawer_bar__plus_00_dot_59_bar__plus_00_dot_75_bar__minus_01_dot_39) + (inReceptacle SaltShaker_bar__plus_01_dot_41_bar__plus_01_dot_16_bar__minus_01_dot_00 CounterTop_bar__plus_01_dot_50_bar__plus_01_dot_20_bar__minus_00_dot_66) + (inReceptacle Fork_bar__plus_01_dot_41_bar__plus_01_dot_16_bar__minus_01_dot_35 CounterTop_bar__plus_01_dot_50_bar__plus_01_dot_20_bar__minus_00_dot_66) + (inReceptacle Spatula_bar__plus_01_dot_49_bar__plus_01_dot_18_bar__minus_01_dot_69 CounterTop_bar__plus_01_dot_50_bar__plus_01_dot_20_bar__minus_00_dot_66) + (inReceptacle HousePlant_bar__plus_01_dot_44_bar__plus_01_dot_15_bar__plus_00_dot_59 CounterTop_bar__plus_01_dot_50_bar__plus_01_dot_20_bar__minus_00_dot_66) + (inReceptacle Pan_bar__minus_01_dot_43_bar__plus_00_dot_95_bar__minus_01_dot_81 StoveBurner_bar__minus_01_dot_43_bar__plus_00_dot_94_bar__minus_01_dot_81) + (inReceptacle SoapBottle_bar__plus_01_dot_30_bar__plus_00_dot_21_bar__plus_01_dot_14 GarbageCan_bar__plus_01_dot_38_bar__plus_00_dot_00_bar__plus_01_dot_08) + (inReceptacle Tomato_bar__plus_01_dot_42_bar__plus_00_dot_25_bar__plus_01_dot_02 GarbageCan_bar__plus_01_dot_38_bar__plus_00_dot_00_bar__plus_01_dot_08) + (inReceptacle Cup_bar__plus_01_dot_39_bar__plus_01_dot_72_bar__plus_01_dot_71 Fridge_bar__plus_01_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_10) + (inReceptacle Cup_bar__plus_01_dot_48_bar__plus_01_dot_37_bar__plus_02_dot_48 Fridge_bar__plus_01_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_10) + (inReceptacle Egg_bar__plus_01_dot_37_bar__plus_01_dot_85_bar__plus_02_dot_43 Fridge_bar__plus_01_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_10) + (inReceptacle Apple_bar__plus_01_dot_48_bar__plus_01_dot_40_bar__plus_02_dot_35 Fridge_bar__plus_01_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_10) + (inReceptacle Potato_bar__plus_01_dot_43_bar__plus_01_dot_41_bar__plus_01_dot_98 Fridge_bar__plus_01_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_10) + (inReceptacle Egg_bar__minus_00_dot_02_bar__plus_00_dot_81_bar__minus_01_dot_63 Sink_bar__plus_00_dot_16_bar__plus_00_dot_82_bar__minus_01_dot_80_bar_SinkBasin) + (inReceptacle Apple_bar__plus_01_dot_38_bar__plus_01_dot_30_bar__minus_00_dot_02 Microwave_bar__plus_01_dot_42_bar__plus_01_dot_15_bar__plus_00_dot_02) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_49_bar__plus_02_dot_06_bar__minus_01_dot_69 loc_bar_2_bar__minus_3_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_00_dot_83_bar__plus_00_dot_40_bar__minus_01_dot_39 loc_bar_1_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__plus_00_dot_67 loc_bar_0_bar_0_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__minus_00_dot_55 loc_bar_0_bar__minus_1_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__minus_01_dot_37 loc_bar_0_bar__minus_3_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_16_bar__plus_02_dot_06_bar__minus_00_dot_34 loc_bar_2_bar__minus_3_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_16_bar__plus_02_dot_06_bar__minus_01_dot_02 loc_bar_1_bar__minus_4_bar_1_bar__minus_30) + 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Cabinet_bar__minus_01_dot_61_bar__plus_02_dot_01_bar__minus_01_dot_69 loc_bar__minus_4_bar__minus_2_bar_2_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_01_dot_66_bar__plus_02_dot_06_bar__minus_01_dot_68 loc_bar__minus_8_bar__minus_4_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_67_bar__plus_00_dot_40_bar__minus_01_dot_39 loc_bar__minus_6_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_40_bar__minus_01_dot_39 loc_bar__minus_6_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_09_bar__plus_00_dot_90_bar__minus_01_dot_88 loc_bar_2_bar__minus_4_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65 loc_bar_2_bar__minus_4_bar_1_bar_45) + (receptacleAtLocation CounterTop_bar__plus_01_dot_50_bar__plus_01_dot_20_bar__minus_00_dot_66 loc_bar_2_bar__minus_4_bar_1_bar_30) + (receptacleAtLocation 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Drawer_bar__minus_01_dot_80_bar__plus_00_dot_75_bar__minus_01_dot_39 loc_bar__minus_5_bar__minus_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_11_bar__plus_00_dot_75_bar__minus_01_dot_39 loc_bar__minus_6_bar__minus_4_bar_3_bar_60) + (receptacleAtLocation Fridge_bar__plus_01_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_10 loc_bar_2_bar_9_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_01_dot_38_bar__plus_00_dot_00_bar__plus_01_dot_08 loc_bar_1_bar_7_bar_1_bar_60) + (receptacleAtLocation Microwave_bar__plus_01_dot_42_bar__plus_01_dot_15_bar__plus_00_dot_02 loc_bar_2_bar_0_bar_1_bar_30) + (receptacleAtLocation Sink_bar__plus_00_dot_16_bar__plus_00_dot_82_bar__minus_01_dot_80_bar_SinkBasin loc_bar__minus_1_bar__minus_4_bar_2_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_01_dot_08_bar__plus_00_dot_94_bar__minus_01_dot_53 loc_bar__minus_4_bar__minus_4_bar_2_bar_60) + (receptacleAtLocation 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+ "objectName": "Plate_9b9c5535", + "position": { + "x": -2.32376337, + "y": 0.911168754, + "z": 0.204750121 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Fork_7aaf3771", + "position": { + "x": -1.71287048, + "y": 0.911048532, + "z": 0.3772499 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Ladle_238538e2", + "position": { + "x": -1.95722759, + "y": 0.9548624, + "z": 0.204750121 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_1cf505ed", + "position": { + "x": -0.552625656, + "y": 0.9530963, + "z": -1.61925435 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_0f08525d", + "position": { + "x": 1.34322, + "y": 0.980465353, + "z": -0.9908546 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Kettle_e75d4607", + "position": { + "x": -1.0811, + "y": 0.949799955, + "z": -1.81 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pen_73e168e3", + "position": { + "x": 0.528749943, + "y": 0.777071536, + "z": -1.50070083 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_a2768593", + "position": { + "x": 1.41487837, + "y": 1.1572001, + "z": -1.00233626 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_bfcb0336", + "position": { + "x": 1.476939, + "y": 1.36794627, + "z": 2.47599983 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Egg_e08d0eeb", + "position": { + "x": -0.01748474, + "y": 0.805728555, + "z": -1.63447762 + }, + "rotation": { + "x": 1.40334191e-14, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Spatula_1d30af71", + "position": { + "x": -2.20158482, + "y": 0.925499856, + "z": 0.3772499 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_a0ece05a", + "position": { + "x": -1.03960013, + "y": 1.85109913, + "z": -1.83929992 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SprayBottle_abf5c390", + "position": { + "x": -1.52464581, + "y": 1.85771048, + "z": -1.87467384 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_c0048524", + "position": { + "x": 1.03518784, + "y": 0.114818692, + "z": -1.129 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_c69c5340", + "position": { + "x": 0.970767558, + "y": 1.65547836, + "z": -1.839 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pot_316d55f0", + "position": { + "x": 0.9673953, + "y": 0.9, + "z": 0.249277115 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_7cca838f", + "position": { + "x": -0.6279957, + "y": 0.911342, + "z": -1.78968191 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_1de14ecd", + "position": { + "x": -0.477255583, + "y": 0.906299949, + "z": -1.44882691 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_b7024f32", + "position": { + "x": -2.32376337, + "y": 0.9100642, + "z": 0.5497497 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_9b638b9f", + "position": { + "x": 1.164, + "y": 0.9752501, + "z": -0.16 + }, + "rotation": { + "x": -2.600315e-06, + "y": 300.000061, + "z": -3.76258049e-06 + } + }, + { + "objectName": "Apple_b66a32b5", + "position": { + "x": 0.14961265, + "y": 0.9542329, + "z": -1.65757918 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_6f7c42a7", + "position": { + "x": -1.9629277, + "y": 0.9116294, + "z": -1.53450024 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_49b86ad0", + "position": { + "x": 1.22378671, + "y": 1.65106428, + "z": -1.10628128 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 97898037, + "scene_num": 8 + }, + "task_id": "trial_T20190918_144242_057762", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1NWXL4QO30M8U_3MH9DQ757ZT2ATFD0E9ATQ8C1SSUGR", + "high_descs": [ + "Walk across the room to the counter to the left of the stove. ", + "Pick up the knife above the potato. ", + "Turn to the left.", + "Open the drawer on the right and put the knife in the drawer. " + ], + "task_desc": "To put the knife in the drawer. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AM2KK02JXXW48_3OXV7EAXLH7GE6DO9H4NUQ5NU2Y63O", + "high_descs": [ + "Head forward to the counter left of the stove. ", + "Pick up the knife from the counter. ", + "Turn to the left and bring the knife to the drawer in the corner on the right. ", + "Open the drawer and put the knife in there. " + ], + "task_desc": "Put a knife in a drawer. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1VAL7L9L79IN0_3Z3ZLGNNSLB9OOW8OQIL0VMEU3YQ3T", + "high_descs": [ + "Walk forward to the kitchen counter next to the stove.", + "Grab the butter knife on the kitchen counter.", + "Turn left and open the right drawer in the corner of the kitchen cabinets.", + "Put the butter knife in the drawer and close the drawer." + ], + "task_desc": "Put the butter knife on the kitchen counter in the corner kitchen drawer.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-ButterKnife-None-Drawer-8/trial_T20190918_144431_864795/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-ButterKnife-None-Drawer-8/trial_T20190918_144431_864795/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..8f00b8b8c025703e5717cb437a388c4b044012d1 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-ButterKnife-None-Drawer-8/trial_T20190918_144431_864795/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 butterknife on drawer.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190918_144431_864795)\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_29_bar__plus_00_dot_95_bar__minus_01_dot_71 - object\n Apple_bar__plus_01_dot_28_bar__plus_01_dot_40_bar__plus_02_dot_48 - object\n Apple_bar__plus_01_dot_36_bar__plus_01_dot_75_bar__plus_01_dot_78 - object\n Bowl_bar__plus_01_dot_15_bar__plus_00_dot_12_bar__minus_01_dot_13 - object\n Bread_bar__plus_01_dot_41_bar__plus_01_dot_24_bar__minus_01_dot_00 - object\n Bread_bar__minus_00_dot_70_bar__plus_00_dot_99_bar__minus_01_dot_79 - object\n ButterKnife_bar__plus_00_dot_57_bar__plus_00_dot_91_bar__minus_01_dot_87 - object\n ButterKnife_bar__plus_01_dot_09_bar__plus_00_dot_91_bar__minus_01_dot_33 - object\n ButterKnife_bar__minus_00_dot_55_bar__plus_00_dot_91_bar__minus_01_dot_45 - object\n Chair_bar__minus_01_dot_99_bar__plus_00_dot_02_bar__plus_00_dot_88 - object\n Cup_bar__plus_01_dot_34_bar__plus_01_dot_16_bar__minus_01_dot_69 - object\n Cup_bar__minus_01_dot_96_bar__plus_00_dot_91_bar__minus_01_dot_45 - object\n DishSponge_bar__plus_00_dot_47_bar__plus_00_dot_12_bar__minus_01_dot_63 - object\n DishSponge_bar__minus_00_dot_69_bar__plus_00_dot_11_bar__minus_01_dot_54 - object\n DishSponge_bar__minus_01_dot_52_bar__plus_01_dot_86_bar__minus_01_dot_91 - object\n Egg_bar__minus_01_dot_96_bar__plus_00_dot_94_bar__plus_00_dot_29 - object\n 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Tomato_bar__plus_01_dot_28_bar__plus_01_dot_41_bar__plus_01_dot_98)\n (sliceable Apple_bar__plus_01_dot_36_bar__plus_01_dot_75_bar__plus_01_dot_78)\n (sliceable Egg_bar__minus_01_dot_96_bar__plus_00_dot_94_bar__plus_00_dot_29)\n (sliceable Bread_bar__minus_00_dot_70_bar__plus_00_dot_99_bar__minus_01_dot_79)\n (sliceable Lettuce_bar__plus_01_dot_33_bar__plus_01_dot_44_bar__plus_01_dot_73)\n (sliceable Bread_bar__plus_01_dot_41_bar__plus_01_dot_24_bar__minus_01_dot_00)\n (sliceable Apple_bar__plus_00_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_71)\n (sliceable Apple_bar__plus_01_dot_28_bar__plus_01_dot_40_bar__plus_02_dot_48)\n (sliceable Potato_bar__minus_00_dot_48_bar__plus_00_dot_95_bar__minus_01_dot_62)\n \n (inReceptacle Mug_bar__minus_01_dot_81_bar__plus_01_dot_65_bar__minus_01_dot_81 Cabinet_bar__minus_01_dot_66_bar__plus_02_dot_06_bar__minus_01_dot_68)\n (inReceptacle Ladle_bar__minus_00_dot_53_bar__plus_01_dot_70_bar__minus_01_dot_84 Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_06_bar__minus_01_dot_69)\n (inReceptacle PepperShaker_bar__plus_01_dot_27_bar__plus_00_dot_11_bar__plus_00_dot_37 Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__plus_00_dot_67)\n (inReceptacle Ladle_bar__plus_01_dot_09_bar__plus_00_dot_16_bar__plus_00_dot_37 Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__plus_00_dot_67)\n (inReceptacle SoapBottle_bar__plus_01_dot_09_bar__plus_00_dot_11_bar__minus_00_dot_63 Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__minus_00_dot_55)\n (inReceptacle PepperShaker_bar__plus_00_dot_98_bar__plus_00_dot_11_bar__minus_01_dot_24 Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__minus_01_dot_37)\n (inReceptacle Bowl_bar__plus_01_dot_15_bar__plus_00_dot_12_bar__minus_01_dot_13 Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__minus_01_dot_37)\n (inReceptacle DishSponge_bar__minus_00_dot_69_bar__plus_00_dot_11_bar__minus_01_dot_54 Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_39)\n (inReceptacle Plate_bar__plus_01_dot_34_bar__plus_01_dot_66_bar__minus_00_dot_66 Cabinet_bar__plus_01_dot_16_bar__plus_02_dot_06_bar__minus_00_dot_34)\n (inReceptacle SoapBottle_bar__plus_01_dot_05_bar__plus_01_dot_66_bar__minus_01_dot_84 Cabinet_bar__plus_00_dot_49_bar__plus_02_dot_06_bar__minus_01_dot_69)\n (inReceptacle SaltShaker_bar__plus_01_dot_46_bar__plus_01_dot_65_bar__minus_01_dot_11 Cabinet_bar__plus_01_dot_16_bar__plus_02_dot_06_bar__minus_01_dot_02)\n (inReceptacle DishSponge_bar__minus_01_dot_52_bar__plus_01_dot_86_bar__minus_01_dot_91 Cabinet_bar__minus_01_dot_61_bar__plus_02_dot_01_bar__minus_01_dot_69)\n (inReceptacle PepperShaker_bar__plus_00_dot_77_bar__plus_00_dot_11_bar__minus_01_dot_68 Cabinet_bar__plus_00_dot_83_bar__plus_00_dot_40_bar__minus_01_dot_39)\n (inReceptacle DishSponge_bar__plus_00_dot_47_bar__plus_00_dot_12_bar__minus_01_dot_63 Cabinet_bar__plus_00_dot_83_bar__plus_00_dot_40_bar__minus_01_dot_39)\n (inReceptacle Pan_bar__minus_01_dot_08_bar__plus_00_dot_95_bar__minus_01_dot_81 StoveBurner_bar__minus_01_dot_08_bar__plus_00_dot_94_bar__minus_01_dot_81)\n (inReceptacle SprayBottle_bar__minus_02_dot_19_bar__plus_00_dot_91_bar__minus_01_dot_71 CounterTop_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__minus_01_dot_71)\n (inReceptacle SprayBottle_bar__minus_01_dot_73_bar__plus_00_dot_91_bar__minus_01_dot_45 CounterTop_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__minus_01_dot_71)\n (inReceptacle Mug_bar__minus_01_dot_89_bar__plus_00_dot_91_bar__minus_01_dot_79 CounterTop_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__minus_01_dot_71)\n (inReceptacle Spoon_bar__minus_02_dot_12_bar__plus_00_dot_91_bar__minus_01_dot_53 CounterTop_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__minus_01_dot_71)\n (inReceptacle Cup_bar__minus_01_dot_96_bar__plus_00_dot_91_bar__minus_01_dot_45 CounterTop_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__minus_01_dot_71)\n (inReceptacle Fork_bar__plus_01_dot_26_bar__plus_00_dot_91_bar__minus_00_dot_31 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65)\n (inReceptacle ButterKnife_bar__minus_00_dot_55_bar__plus_00_dot_91_bar__minus_01_dot_45 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65)\n (inReceptacle Spatula_bar__plus_01_dot_01_bar__plus_00_dot_93_bar__plus_00_dot_03 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65)\n (inReceptacle Tomato_bar__plus_01_dot_18_bar__plus_00_dot_95_bar__plus_00_dot_03 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65)\n (inReceptacle Sink_bar__plus_00_dot_16_bar__plus_00_dot_82_bar__minus_01_dot_80 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65)\n (inReceptacle Pot_bar__plus_00_dot_97_bar__plus_00_dot_90_bar__plus_00_dot_25 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65)\n (inReceptacle Potato_bar__minus_00_dot_48_bar__plus_00_dot_95_bar__minus_01_dot_62 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65)\n (inReceptacle Ladle_bar__plus_00_dot_66_bar__plus_00_dot_96_bar__minus_01_dot_53 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65)\n (inReceptacle Bread_bar__minus_00_dot_70_bar__plus_00_dot_99_bar__minus_01_dot_79 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65)\n (inReceptacle ButterKnife_bar__plus_01_dot_09_bar__plus_00_dot_91_bar__minus_01_dot_33 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65)\n (inReceptacle ButterKnife_bar__plus_00_dot_57_bar__plus_00_dot_91_bar__minus_01_dot_87 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65)\n (inReceptacle Spatula_bar__plus_01_dot_01_bar__plus_00_dot_93_bar__minus_00_dot_31 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65)\n (inReceptacle Knife_bar__minus_02_dot_08_bar__plus_00_dot_94_bar__plus_00_dot_38 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29)\n (inReceptacle Pen_bar__minus_02_dot_45_bar__plus_00_dot_91_bar__plus_00_dot_03 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29)\n (inReceptacle Fork_bar__minus_02_dot_20_bar__plus_00_dot_91_bar__plus_00_dot_55 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29)\n (inReceptacle Knife_bar__minus_02_dot_32_bar__plus_00_dot_94_bar__plus_00_dot_29 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29)\n (inReceptacle Pen_bar__minus_01_dot_84_bar__plus_00_dot_91_bar__plus_00_dot_46 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29)\n (inReceptacle Spoon_bar__minus_01_dot_71_bar__plus_00_dot_91_bar__plus_00_dot_38 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29)\n (inReceptacle Egg_bar__minus_01_dot_96_bar__plus_00_dot_94_bar__plus_00_dot_29 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29)\n (inReceptacle Fork_bar__minus_02_dot_08_bar__plus_00_dot_91_bar__plus_00_dot_12 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29)\n (inReceptacle Cup_bar__plus_01_dot_34_bar__plus_01_dot_16_bar__minus_01_dot_69 CounterTop_bar__plus_01_dot_50_bar__plus_01_dot_20_bar__minus_00_dot_66)\n (inReceptacle HousePlant_bar__plus_01_dot_44_bar__plus_01_dot_15_bar__plus_00_dot_59 CounterTop_bar__plus_01_dot_50_bar__plus_01_dot_20_bar__minus_00_dot_66)\n (inReceptacle Bread_bar__plus_01_dot_41_bar__plus_01_dot_24_bar__minus_01_dot_00 CounterTop_bar__plus_01_dot_50_bar__plus_01_dot_20_bar__minus_00_dot_66)\n (inReceptacle Spatula_bar__plus_01_dot_41_bar__plus_01_dot_18_bar__minus_01_dot_69 CounterTop_bar__plus_01_dot_50_bar__plus_01_dot_20_bar__minus_00_dot_66)\n (inReceptacle Kettle_bar__minus_01_dot_43_bar__plus_00_dot_95_bar__minus_01_dot_53 StoveBurner_bar__minus_01_dot_43_bar__plus_00_dot_94_bar__minus_01_dot_53)\n (inReceptacle Kettle_bar__minus_01_dot_43_bar__plus_00_dot_95_bar__minus_01_dot_81 StoveBurner_bar__minus_01_dot_43_bar__plus_00_dot_94_bar__minus_01_dot_81)\n (inReceptacle SprayBottle_bar__plus_01_dot_42_bar__plus_00_dot_21_bar__plus_01_dot_02 GarbageCan_bar__plus_01_dot_38_bar__plus_00_dot_00_bar__plus_01_dot_08)\n (inReceptacle Glassbottle_bar__plus_01_dot_30_bar__plus_00_dot_22_bar__plus_01_dot_08 GarbageCan_bar__plus_01_dot_38_bar__plus_00_dot_00_bar__plus_01_dot_08)\n (inReceptacle Glassbottle_bar__plus_01_dot_33_bar__plus_01_dot_37_bar__plus_02_dot_23 Fridge_bar__plus_01_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_10)\n (inReceptacle Potato_bar__plus_01_dot_48_bar__plus_01_dot_41_bar__plus_02_dot_23 Fridge_bar__plus_01_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_10)\n (inReceptacle Tomato_bar__plus_01_dot_28_bar__plus_01_dot_41_bar__plus_01_dot_98 Fridge_bar__plus_01_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_10)\n (inReceptacle Potato_bar__plus_01_dot_42_bar__plus_01_dot_76_bar__plus_01_dot_96 Fridge_bar__plus_01_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_10)\n (inReceptacle Apple_bar__plus_01_dot_36_bar__plus_01_dot_75_bar__plus_01_dot_78 Fridge_bar__plus_01_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_10)\n (inReceptacle Mug_bar__plus_01_dot_38_bar__plus_01_dot_36_bar__plus_02_dot_10 Fridge_bar__plus_01_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_10)\n (inReceptacle Lettuce_bar__plus_01_dot_33_bar__plus_01_dot_44_bar__plus_01_dot_73 Fridge_bar__plus_01_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_10)\n (inReceptacle Apple_bar__plus_01_dot_28_bar__plus_01_dot_40_bar__plus_02_dot_48 Fridge_bar__plus_01_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_10)\n (inReceptacle Glassbottle_bar__minus_00_dot_06_bar__plus_00_dot_78_bar__minus_01_dot_71 Sink_bar__plus_00_dot_16_bar__plus_00_dot_82_bar__minus_01_dot_80_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_49_bar__plus_02_dot_06_bar__minus_01_dot_69 loc_bar_2_bar__minus_3_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_83_bar__plus_00_dot_40_bar__minus_01_dot_39 loc_bar_1_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__plus_00_dot_67 loc_bar_0_bar_0_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__minus_00_dot_55 loc_bar_0_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__minus_01_dot_37 loc_bar_0_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_16_bar__plus_02_dot_06_bar__minus_00_dot_34 loc_bar_2_bar__minus_3_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_16_bar__plus_02_dot_06_bar__minus_01_dot_02 loc_bar_1_bar__minus_4_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_19_bar__plus_02_dot_06_bar__minus_01_dot_69 loc_bar_1_bar__minus_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_20_bar__plus_00_dot_40_bar__minus_01_dot_39 loc_bar_2_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_24_bar__plus_00_dot_40_bar__minus_01_dot_39 loc_bar__minus_3_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_69_bar__plus_00_dot_75_bar__minus_01_dot_39 loc_bar__minus_4_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_39 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_06_bar__minus_01_dot_69 loc_bar__minus_2_bar__minus_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_87_bar__plus_02_dot_01_bar__minus_01_dot_69 loc_bar__minus_5_bar__minus_2_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_61_bar__plus_02_dot_01_bar__minus_01_dot_69 loc_bar__minus_4_bar__minus_2_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_66_bar__plus_02_dot_06_bar__minus_01_dot_68 loc_bar__minus_8_bar__minus_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_67_bar__plus_00_dot_40_bar__minus_01_dot_39 loc_bar__minus_6_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_40_bar__minus_01_dot_39 loc_bar__minus_6_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_09_bar__plus_00_dot_90_bar__minus_01_dot_88 loc_bar_2_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_50_bar__plus_01_dot_20_bar__minus_00_dot_66 loc_bar_2_bar__minus_4_bar_1_bar_30)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__minus_01_dot_71 loc_bar__minus_8_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29 loc_bar__minus_8_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_59_bar__plus_00_dot_75_bar__minus_01_dot_39 loc_bar__minus_1_bar__minus_4_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_86_bar__plus_00_dot_75_bar__plus_00_dot_43 loc_bar_1_bar_1_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_86_bar__plus_00_dot_75_bar__minus_00_dot_70 loc_bar_1_bar__minus_4_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_87_bar__plus_00_dot_75_bar__minus_01_dot_14 loc_bar_0_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_38_bar__plus_00_dot_75_bar__minus_01_dot_39 loc_bar__minus_4_bar__minus_4_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_80_bar__plus_00_dot_75_bar__minus_01_dot_39 loc_bar__minus_5_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_02_dot_11_bar__plus_00_dot_75_bar__minus_01_dot_39 loc_bar__minus_6_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation Fridge_bar__plus_01_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_10 loc_bar_2_bar_9_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_38_bar__plus_00_dot_00_bar__plus_01_dot_08 loc_bar_1_bar_7_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__plus_01_dot_42_bar__plus_01_dot_15_bar__plus_00_dot_02 loc_bar_2_bar_0_bar_1_bar_30)\n (receptacleAtLocation Sink_bar__plus_00_dot_16_bar__plus_00_dot_82_bar__minus_01_dot_80_bar_SinkBasin loc_bar__minus_1_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_08_bar__plus_00_dot_94_bar__minus_01_dot_53 loc_bar__minus_4_bar__minus_4_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_08_bar__plus_00_dot_94_bar__minus_01_dot_81 loc_bar__minus_4_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_43_bar__plus_00_dot_94_bar__minus_01_dot_53 loc_bar__minus_6_bar__minus_4_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_43_bar__plus_00_dot_94_bar__minus_01_dot_81 loc_bar__minus_6_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation Toaster_bar__minus_02_dot_07_bar__plus_00_dot_90_bar__minus_01_dot_85 loc_bar__minus_10_bar__minus_6_bar_1_bar_60)\n (objectAtLocation Mug_bar__minus_01_dot_81_bar__plus_01_dot_65_bar__minus_01_dot_81 loc_bar__minus_8_bar__minus_4_bar_2_bar__minus_30)\n (objectAtLocation Spoon_bar__minus_01_dot_71_bar__plus_00_dot_91_bar__plus_00_dot_38 loc_bar__minus_8_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Apple_bar__plus_01_dot_28_bar__plus_01_dot_40_bar__plus_02_dot_48 loc_bar_2_bar_9_bar_1_bar_60)\n (objectAtLocation Bread_bar__plus_01_dot_41_bar__plus_01_dot_24_bar__minus_01_dot_00 loc_bar_2_bar__minus_4_bar_1_bar_30)\n (objectAtLocation DishSponge_bar__minus_00_dot_69_bar__plus_00_dot_11_bar__minus_01_dot_54 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation PepperShaker_bar__plus_00_dot_77_bar__plus_00_dot_11_bar__minus_01_dot_68 loc_bar_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation ButterKnife_bar__plus_00_dot_57_bar__plus_00_dot_91_bar__minus_01_dot_87 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__plus_00_dot_18_bar__plus_00_dot_92_bar__minus_01_dot_71 loc_bar__minus_1_bar__minus_4_bar_2_bar_45)\n (objectAtLocation SprayBottle_bar__plus_01_dot_42_bar__plus_00_dot_21_bar__plus_01_dot_02 loc_bar_1_bar_7_bar_1_bar_60)\n (objectAtLocation Spatula_bar__plus_01_dot_01_bar__plus_00_dot_93_bar__minus_00_dot_31 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Cup_bar__minus_01_dot_96_bar__plus_00_dot_91_bar__minus_01_dot_45 loc_bar__minus_8_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Pen_bar__minus_01_dot_84_bar__plus_00_dot_91_bar__plus_00_dot_46 loc_bar__minus_8_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Kettle_bar__minus_01_dot_43_bar__plus_00_dot_95_bar__minus_01_dot_53 loc_bar__minus_6_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Potato_bar__plus_01_dot_48_bar__plus_01_dot_41_bar__plus_02_dot_23 loc_bar_2_bar_9_bar_1_bar_60)\n (objectAtLocation Ladle_bar__minus_00_dot_53_bar__plus_01_dot_70_bar__minus_01_dot_84 loc_bar__minus_2_bar__minus_4_bar_2_bar__minus_30)\n (objectAtLocation Fork_bar__minus_02_dot_20_bar__plus_00_dot_91_bar__plus_00_dot_55 loc_bar__minus_8_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Knife_bar__minus_02_dot_08_bar__plus_00_dot_94_bar__plus_00_dot_38 loc_bar__minus_8_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Glassbottle_bar__minus_00_dot_06_bar__plus_00_dot_78_bar__minus_01_dot_71 loc_bar__minus_1_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Tomato_bar__plus_01_dot_28_bar__plus_01_dot_41_bar__plus_01_dot_98 loc_bar_2_bar_9_bar_1_bar_60)\n (objectAtLocation Apple_bar__plus_01_dot_36_bar__plus_01_dot_75_bar__plus_01_dot_78 loc_bar_2_bar_9_bar_1_bar_60)\n (objectAtLocation Mug_bar__plus_01_dot_38_bar__plus_01_dot_36_bar__plus_02_dot_10 loc_bar_2_bar_9_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__plus_00_dot_98_bar__plus_00_dot_11_bar__minus_01_dot_24 loc_bar_0_bar__minus_3_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__plus_01_dot_09_bar__plus_00_dot_11_bar__minus_00_dot_63 loc_bar_0_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Spatula_bar__plus_01_dot_01_bar__plus_00_dot_93_bar__plus_00_dot_03 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Spoon_bar__plus_00_dot_12_bar__plus_00_dot_92_bar__minus_01_dot_61 loc_bar__minus_1_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Fork_bar__plus_01_dot_26_bar__plus_00_dot_91_bar__minus_00_dot_31 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Glassbottle_bar__plus_01_dot_33_bar__plus_01_dot_37_bar__plus_02_dot_23 loc_bar_2_bar_9_bar_1_bar_60)\n (objectAtLocation DishSponge_bar__minus_01_dot_52_bar__plus_01_dot_86_bar__minus_01_dot_91 loc_bar__minus_4_bar__minus_2_bar_2_bar__minus_15)\n (objectAtLocation ButterKnife_bar__minus_00_dot_55_bar__plus_00_dot_91_bar__minus_01_dot_45 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Ladle_bar__plus_01_dot_09_bar__plus_00_dot_16_bar__plus_00_dot_37 loc_bar_0_bar_0_bar_1_bar_60)\n (objectAtLocation Potato_bar__plus_01_dot_42_bar__plus_01_dot_76_bar__plus_01_dot_96 loc_bar_2_bar_9_bar_1_bar_60)\n (objectAtLocation SprayBottle_bar__minus_02_dot_19_bar__plus_00_dot_91_bar__minus_01_dot_71 loc_bar__minus_8_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Chair_bar__minus_01_dot_99_bar__plus_00_dot_02_bar__plus_00_dot_88 loc_bar__minus_8_bar_5_bar_2_bar_60)\n (objectAtLocation Sink_bar__plus_00_dot_16_bar__plus_00_dot_82_bar__minus_01_dot_80 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (objectAtLocation LightSwitch_bar__minus_02_dot_54_bar__plus_01_dot_29_bar__plus_02_dot_57 loc_bar__minus_8_bar_10_bar_3_bar_30)\n (objectAtLocation Tomato_bar__plus_01_dot_18_bar__plus_00_dot_95_bar__plus_00_dot_03 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (objectAtLocation StoveKnob_bar__minus_01_dot_36_bar__plus_01_dot_10_bar__minus_01_dot_98 loc_bar__minus_5_bar__minus_4_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_00_dot_96_bar__plus_01_dot_10_bar__minus_01_dot_98 loc_bar__minus_4_bar__minus_4_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_01_dot_52_bar__plus_01_dot_10_bar__minus_01_dot_98 loc_bar__minus_6_bar__minus_4_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_01_dot_11_bar__plus_01_dot_10_bar__minus_01_dot_98 loc_bar__minus_4_bar__minus_4_bar_2_bar_30)\n (objectAtLocation Glassbottle_bar__plus_01_dot_30_bar__plus_00_dot_22_bar__plus_01_dot_08 loc_bar_1_bar_7_bar_1_bar_60)\n (objectAtLocation Knife_bar__minus_02_dot_32_bar__plus_00_dot_94_bar__plus_00_dot_29 loc_bar__minus_8_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Plate_bar__plus_01_dot_34_bar__plus_01_dot_66_bar__minus_00_dot_66 loc_bar_2_bar__minus_3_bar_1_bar__minus_30)\n (objectAtLocation Fork_bar__minus_02_dot_08_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar__minus_8_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Ladle_bar__plus_00_dot_66_bar__plus_00_dot_96_bar__minus_01_dot_53 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_48_bar__plus_00_dot_95_bar__minus_01_dot_62 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Lettuce_bar__plus_01_dot_33_bar__plus_01_dot_44_bar__plus_01_dot_73 loc_bar_2_bar_9_bar_1_bar_60)\n (objectAtLocation HousePlant_bar__plus_01_dot_44_bar__plus_01_dot_15_bar__plus_00_dot_59 loc_bar_2_bar__minus_4_bar_1_bar_30)\n (objectAtLocation Kettle_bar__minus_01_dot_43_bar__plus_00_dot_95_bar__minus_01_dot_81 loc_bar__minus_6_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Pen_bar__minus_02_dot_45_bar__plus_00_dot_91_bar__plus_00_dot_03 loc_bar__minus_8_bar__minus_2_bar_0_bar_45)\n (objectAtLocation SaltShaker_bar__plus_01_dot_46_bar__plus_01_dot_65_bar__minus_01_dot_11 loc_bar_1_bar__minus_4_bar_1_bar__minus_30)\n (objectAtLocation Cup_bar__plus_01_dot_34_bar__plus_01_dot_16_bar__minus_01_dot_69 loc_bar_2_bar__minus_4_bar_1_bar_30)\n (objectAtLocation Window_bar__minus_00_dot_49_bar__plus_01_dot_45_bar__plus_03_dot_30 loc_bar__minus_2_bar_11_bar_0_bar_15)\n (objectAtLocation Egg_bar__minus_01_dot_96_bar__plus_00_dot_94_bar__plus_00_dot_29 loc_bar__minus_8_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Spatula_bar__plus_01_dot_41_bar__plus_01_dot_18_bar__minus_01_dot_69 loc_bar_2_bar__minus_4_bar_1_bar_30)\n (objectAtLocation Bowl_bar__plus_01_dot_15_bar__plus_00_dot_12_bar__minus_01_dot_13 loc_bar_0_bar__minus_3_bar_1_bar_60)\n (objectAtLocation SprayBottle_bar__minus_01_dot_73_bar__plus_00_dot_91_bar__minus_01_dot_45 loc_bar__minus_8_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Pan_bar__minus_01_dot_08_bar__plus_00_dot_95_bar__minus_01_dot_81 loc_bar__minus_4_bar__minus_4_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__plus_01_dot_05_bar__plus_01_dot_66_bar__minus_01_dot_84 loc_bar_2_bar__minus_3_bar_2_bar__minus_30)\n (objectAtLocation Pot_bar__plus_00_dot_97_bar__plus_00_dot_90_bar__plus_00_dot_25 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__plus_01_dot_09_bar__plus_00_dot_91_bar__minus_01_dot_33 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__plus_01_dot_27_bar__plus_00_dot_11_bar__plus_00_dot_37 loc_bar_0_bar_0_bar_1_bar_60)\n (objectAtLocation DishSponge_bar__plus_00_dot_47_bar__plus_00_dot_12_bar__minus_01_dot_63 loc_bar_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Bread_bar__minus_00_dot_70_bar__plus_00_dot_99_bar__minus_01_dot_79 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Apple_bar__plus_00_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_71 loc_bar__minus_1_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_02_dot_12_bar__plus_00_dot_91_bar__minus_01_dot_53 loc_bar__minus_8_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Mug_bar__minus_01_dot_89_bar__plus_00_dot_91_bar__minus_01_dot_79 loc_bar__minus_8_bar__minus_4_bar_2_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o ButterKnifeType)\n (receptacleType ?r DrawerType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 2", "take butterknife 3 from countertop 2", "go to drawer 1", "open drawer 1", "move butterknife 3 to drawer 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-ButterKnife-None-Drawer-8/trial_T20190918_144431_864795/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-ButterKnife-None-Drawer-8/trial_T20190918_144431_864795/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..ea445abcc9e5fe87fb58ac78efee251636051603 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-ButterKnife-None-Drawer-8/trial_T20190918_144431_864795/initial_state.pddl @@ -0,0 +1,1343 @@ + +(define (problem plan_trial_T20190918_144431_864795) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_29_bar__plus_00_dot_95_bar__minus_01_dot_71 - object + Apple_bar__plus_01_dot_28_bar__plus_01_dot_40_bar__plus_02_dot_48 - object + Apple_bar__plus_01_dot_36_bar__plus_01_dot_75_bar__plus_01_dot_78 - object + Bowl_bar__plus_01_dot_15_bar__plus_00_dot_12_bar__minus_01_dot_13 - object + Bread_bar__plus_01_dot_41_bar__plus_01_dot_24_bar__minus_01_dot_00 - object + Bread_bar__minus_00_dot_70_bar__plus_00_dot_99_bar__minus_01_dot_79 - object + ButterKnife_bar__plus_00_dot_57_bar__plus_00_dot_91_bar__minus_01_dot_87 - object + ButterKnife_bar__plus_01_dot_09_bar__plus_00_dot_91_bar__minus_01_dot_33 - object + ButterKnife_bar__minus_00_dot_55_bar__plus_00_dot_91_bar__minus_01_dot_45 - object + Chair_bar__minus_01_dot_99_bar__plus_00_dot_02_bar__plus_00_dot_88 - object + Cup_bar__plus_01_dot_34_bar__plus_01_dot_16_bar__minus_01_dot_69 - object + Cup_bar__minus_01_dot_96_bar__plus_00_dot_91_bar__minus_01_dot_45 - object + DishSponge_bar__plus_00_dot_47_bar__plus_00_dot_12_bar__minus_01_dot_63 - object + DishSponge_bar__minus_00_dot_69_bar__plus_00_dot_11_bar__minus_01_dot_54 - object + DishSponge_bar__minus_01_dot_52_bar__plus_01_dot_86_bar__minus_01_dot_91 - object + Egg_bar__minus_01_dot_96_bar__plus_00_dot_94_bar__plus_00_dot_29 - object + Faucet_bar__minus_00_dot_10_bar__plus_01_dot_04_bar__minus_01_dot_87 - object + Fork_bar__plus_01_dot_26_bar__plus_00_dot_91_bar__minus_00_dot_31 - object + Fork_bar__minus_02_dot_08_bar__plus_00_dot_91_bar__plus_00_dot_12 - object + Fork_bar__minus_02_dot_20_bar__plus_00_dot_91_bar__plus_00_dot_55 - object + Glassbottle_bar__plus_01_dot_30_bar__plus_00_dot_22_bar__plus_01_dot_08 - object + Glassbottle_bar__plus_01_dot_33_bar__plus_01_dot_37_bar__plus_02_dot_23 - object + Glassbottle_bar__minus_00_dot_06_bar__plus_00_dot_78_bar__minus_01_dot_71 - object + HousePlant_bar__plus_01_dot_44_bar__plus_01_dot_15_bar__plus_00_dot_59 - object + Kettle_bar__minus_01_dot_43_bar__plus_00_dot_95_bar__minus_01_dot_53 - object + Kettle_bar__minus_01_dot_43_bar__plus_00_dot_95_bar__minus_01_dot_81 - object + Knife_bar__minus_02_dot_08_bar__plus_00_dot_94_bar__plus_00_dot_38 - object + Knife_bar__minus_02_dot_32_bar__plus_00_dot_94_bar__plus_00_dot_29 - object + Ladle_bar__plus_00_dot_66_bar__plus_00_dot_96_bar__minus_01_dot_53 - object + 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PepperShaker_bar__plus_01_dot_27_bar__plus_00_dot_11_bar__plus_00_dot_37 - object + Plate_bar__plus_01_dot_34_bar__plus_01_dot_66_bar__minus_00_dot_66 - object + Potato_bar__plus_01_dot_42_bar__plus_01_dot_76_bar__plus_01_dot_96 - object + Potato_bar__plus_01_dot_48_bar__plus_01_dot_41_bar__plus_02_dot_23 - object + Potato_bar__minus_00_dot_48_bar__plus_00_dot_95_bar__minus_01_dot_62 - object + Pot_bar__plus_00_dot_97_bar__plus_00_dot_90_bar__plus_00_dot_25 - object + SaltShaker_bar__plus_01_dot_46_bar__plus_01_dot_65_bar__minus_01_dot_11 - object + Sink_bar__plus_00_dot_16_bar__plus_00_dot_82_bar__minus_01_dot_80 - object + SoapBottle_bar__plus_00_dot_18_bar__plus_00_dot_92_bar__minus_01_dot_71 - object + SoapBottle_bar__plus_01_dot_05_bar__plus_01_dot_66_bar__minus_01_dot_84 - object + SoapBottle_bar__plus_01_dot_09_bar__plus_00_dot_11_bar__minus_00_dot_63 - object + Spatula_bar__plus_01_dot_01_bar__plus_00_dot_93_bar__plus_00_dot_03 - object + 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Ladle_bar__minus_00_dot_53_bar__plus_01_dot_70_bar__minus_01_dot_84) + (cleanable Tomato_bar__plus_01_dot_28_bar__plus_01_dot_41_bar__plus_01_dot_98) + (cleanable Plate_bar__plus_01_dot_34_bar__plus_01_dot_66_bar__minus_00_dot_66) + (cleanable Apple_bar__plus_01_dot_36_bar__plus_01_dot_75_bar__plus_01_dot_78) + (cleanable Egg_bar__minus_01_dot_96_bar__plus_00_dot_94_bar__plus_00_dot_29) + (cleanable Fork_bar__minus_02_dot_08_bar__plus_00_dot_91_bar__plus_00_dot_12) + (cleanable Lettuce_bar__plus_01_dot_33_bar__plus_01_dot_44_bar__plus_01_dot_73) + (cleanable Spatula_bar__plus_01_dot_01_bar__plus_00_dot_93_bar__minus_00_dot_31) + (cleanable Kettle_bar__minus_01_dot_43_bar__plus_00_dot_95_bar__minus_01_dot_53) + (cleanable Knife_bar__minus_02_dot_08_bar__plus_00_dot_94_bar__plus_00_dot_38) + (cleanable Knife_bar__minus_02_dot_32_bar__plus_00_dot_94_bar__plus_00_dot_29) + (cleanable Cup_bar__plus_01_dot_34_bar__plus_01_dot_16_bar__minus_01_dot_69) + (cleanable Ladle_bar__plus_00_dot_66_bar__plus_00_dot_96_bar__minus_01_dot_53) + (cleanable Apple_bar__plus_00_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_71) + (cleanable Mug_bar__minus_01_dot_81_bar__plus_01_dot_65_bar__minus_01_dot_81) + (cleanable Apple_bar__plus_01_dot_28_bar__plus_01_dot_40_bar__plus_02_dot_48) + (cleanable Ladle_bar__plus_01_dot_09_bar__plus_00_dot_16_bar__plus_00_dot_37) + (cleanable Spatula_bar__plus_01_dot_41_bar__plus_01_dot_18_bar__minus_01_dot_69) + (cleanable Bowl_bar__plus_01_dot_15_bar__plus_00_dot_12_bar__minus_01_dot_13) + (cleanable Fork_bar__plus_01_dot_26_bar__plus_00_dot_91_bar__minus_00_dot_31) + (cleanable Pot_bar__plus_00_dot_97_bar__plus_00_dot_90_bar__plus_00_dot_25) + (cleanable DishSponge_bar__minus_01_dot_52_bar__plus_01_dot_86_bar__minus_01_dot_91) + (cleanable Potato_bar__minus_00_dot_48_bar__plus_00_dot_95_bar__minus_01_dot_62) + (cleanable Spoon_bar__plus_00_dot_12_bar__plus_00_dot_92_bar__minus_01_dot_61) + (cleanable 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StoveBurner_bar__minus_01_dot_08_bar__plus_00_dot_94_bar__minus_01_dot_81) + (inReceptacle SprayBottle_bar__minus_02_dot_19_bar__plus_00_dot_91_bar__minus_01_dot_71 CounterTop_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__minus_01_dot_71) + (inReceptacle SprayBottle_bar__minus_01_dot_73_bar__plus_00_dot_91_bar__minus_01_dot_45 CounterTop_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__minus_01_dot_71) + (inReceptacle Mug_bar__minus_01_dot_89_bar__plus_00_dot_91_bar__minus_01_dot_79 CounterTop_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__minus_01_dot_71) + (inReceptacle Spoon_bar__minus_02_dot_12_bar__plus_00_dot_91_bar__minus_01_dot_53 CounterTop_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__minus_01_dot_71) + (inReceptacle Cup_bar__minus_01_dot_96_bar__plus_00_dot_91_bar__minus_01_dot_45 CounterTop_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__minus_01_dot_71) + (inReceptacle Fork_bar__plus_01_dot_26_bar__plus_00_dot_91_bar__minus_00_dot_31 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65) + (inReceptacle ButterKnife_bar__minus_00_dot_55_bar__plus_00_dot_91_bar__minus_01_dot_45 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65) + (inReceptacle Spatula_bar__plus_01_dot_01_bar__plus_00_dot_93_bar__plus_00_dot_03 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65) + (inReceptacle Tomato_bar__plus_01_dot_18_bar__plus_00_dot_95_bar__plus_00_dot_03 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65) + (inReceptacle Sink_bar__plus_00_dot_16_bar__plus_00_dot_82_bar__minus_01_dot_80 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65) + (inReceptacle Pot_bar__plus_00_dot_97_bar__plus_00_dot_90_bar__plus_00_dot_25 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65) + (inReceptacle Potato_bar__minus_00_dot_48_bar__plus_00_dot_95_bar__minus_01_dot_62 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65) + (inReceptacle Ladle_bar__plus_00_dot_66_bar__plus_00_dot_96_bar__minus_01_dot_53 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65) + (inReceptacle Bread_bar__minus_00_dot_70_bar__plus_00_dot_99_bar__minus_01_dot_79 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65) + (inReceptacle ButterKnife_bar__plus_01_dot_09_bar__plus_00_dot_91_bar__minus_01_dot_33 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65) + (inReceptacle ButterKnife_bar__plus_00_dot_57_bar__plus_00_dot_91_bar__minus_01_dot_87 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65) + (inReceptacle Spatula_bar__plus_01_dot_01_bar__plus_00_dot_93_bar__minus_00_dot_31 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65) + (inReceptacle Knife_bar__minus_02_dot_08_bar__plus_00_dot_94_bar__plus_00_dot_38 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29) + (inReceptacle Pen_bar__minus_02_dot_45_bar__plus_00_dot_91_bar__plus_00_dot_03 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29) + (inReceptacle Fork_bar__minus_02_dot_20_bar__plus_00_dot_91_bar__plus_00_dot_55 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29) + (inReceptacle Knife_bar__minus_02_dot_32_bar__plus_00_dot_94_bar__plus_00_dot_29 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29) + (inReceptacle Pen_bar__minus_01_dot_84_bar__plus_00_dot_91_bar__plus_00_dot_46 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29) + (inReceptacle Spoon_bar__minus_01_dot_71_bar__plus_00_dot_91_bar__plus_00_dot_38 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29) + (inReceptacle Egg_bar__minus_01_dot_96_bar__plus_00_dot_94_bar__plus_00_dot_29 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29) + (inReceptacle Fork_bar__minus_02_dot_08_bar__plus_00_dot_91_bar__plus_00_dot_12 CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29) + (inReceptacle Cup_bar__plus_01_dot_34_bar__plus_01_dot_16_bar__minus_01_dot_69 CounterTop_bar__plus_01_dot_50_bar__plus_01_dot_20_bar__minus_00_dot_66) + (inReceptacle HousePlant_bar__plus_01_dot_44_bar__plus_01_dot_15_bar__plus_00_dot_59 CounterTop_bar__plus_01_dot_50_bar__plus_01_dot_20_bar__minus_00_dot_66) + (inReceptacle Bread_bar__plus_01_dot_41_bar__plus_01_dot_24_bar__minus_01_dot_00 CounterTop_bar__plus_01_dot_50_bar__plus_01_dot_20_bar__minus_00_dot_66) + (inReceptacle Spatula_bar__plus_01_dot_41_bar__plus_01_dot_18_bar__minus_01_dot_69 CounterTop_bar__plus_01_dot_50_bar__plus_01_dot_20_bar__minus_00_dot_66) + (inReceptacle Kettle_bar__minus_01_dot_43_bar__plus_00_dot_95_bar__minus_01_dot_53 StoveBurner_bar__minus_01_dot_43_bar__plus_00_dot_94_bar__minus_01_dot_53) + (inReceptacle Kettle_bar__minus_01_dot_43_bar__plus_00_dot_95_bar__minus_01_dot_81 StoveBurner_bar__minus_01_dot_43_bar__plus_00_dot_94_bar__minus_01_dot_81) + (inReceptacle SprayBottle_bar__plus_01_dot_42_bar__plus_00_dot_21_bar__plus_01_dot_02 GarbageCan_bar__plus_01_dot_38_bar__plus_00_dot_00_bar__plus_01_dot_08) + (inReceptacle Glassbottle_bar__plus_01_dot_30_bar__plus_00_dot_22_bar__plus_01_dot_08 GarbageCan_bar__plus_01_dot_38_bar__plus_00_dot_00_bar__plus_01_dot_08) + (inReceptacle Glassbottle_bar__plus_01_dot_33_bar__plus_01_dot_37_bar__plus_02_dot_23 Fridge_bar__plus_01_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_10) + (inReceptacle Potato_bar__plus_01_dot_48_bar__plus_01_dot_41_bar__plus_02_dot_23 Fridge_bar__plus_01_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_10) + (inReceptacle Tomato_bar__plus_01_dot_28_bar__plus_01_dot_41_bar__plus_01_dot_98 Fridge_bar__plus_01_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_10) + (inReceptacle Potato_bar__plus_01_dot_42_bar__plus_01_dot_76_bar__plus_01_dot_96 Fridge_bar__plus_01_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_10) + (inReceptacle Apple_bar__plus_01_dot_36_bar__plus_01_dot_75_bar__plus_01_dot_78 Fridge_bar__plus_01_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_10) + (inReceptacle Mug_bar__plus_01_dot_38_bar__plus_01_dot_36_bar__plus_02_dot_10 Fridge_bar__plus_01_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_10) + (inReceptacle Lettuce_bar__plus_01_dot_33_bar__plus_01_dot_44_bar__plus_01_dot_73 Fridge_bar__plus_01_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_10) + (inReceptacle Apple_bar__plus_01_dot_28_bar__plus_01_dot_40_bar__plus_02_dot_48 Fridge_bar__plus_01_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_10) + (inReceptacle Glassbottle_bar__minus_00_dot_06_bar__plus_00_dot_78_bar__minus_01_dot_71 Sink_bar__plus_00_dot_16_bar__plus_00_dot_82_bar__minus_01_dot_80_bar_SinkBasin) + + + 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"objectName": "Pot_316d55f0", + "position": { + "x": 0.9673953, + "y": 0.9, + "z": 0.249277115 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_7cca838f", + "position": { + "x": 0.5698826, + "y": 0.911342, + "z": -1.87489522 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_1de14ecd", + "position": { + "x": 0.7711503, + "y": 0.112060905, + "z": -1.68090892 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_b7024f32", + "position": { + "x": -0.6855, + "y": 0.111328661, + "z": -1.53563261 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_9b638b9f", + "position": { + "x": 1.41487837, + "y": 1.24034131, + "z": -1.00233626 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_b66a32b5", + "position": { + "x": 1.27506363, + "y": 1.40215027, + "z": 2.47600055 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Spoon_6f7c42a7", + "position": { + "x": -1.71287048, + "y": 0.9116294, + "z": 0.3772499 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_49b86ad0", + "position": { + "x": -1.81044948, + "y": 1.65106428, + "z": -1.8074913 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 44170072, + "scene_num": 8 + }, + "task_id": "trial_T20190918_144431_864795", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1NWXL4QO30M8U_33PPUNGG3BMALII1MC2U9M1Y5JWRZN", + "high_descs": [ + "Turn around and walk across the room, then turn to face the sink counter on the right.", + "Pick up the knife on the edge of the counter in front of the potato. ", + "Turn and face the counter on the left. ", + "Open the drawer on the right side, next to the sink, and put the knife inside." + ], + "task_desc": "To put the knife in a drawer. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A272X64FOZFYLB_351SEKWQS3YGL10DPMHGWVOLBEWMD4", + "high_descs": [ + "Turn around and walk to the knife on the counter by the sink.", + "Pick up the knife from the counter.", + "Turn left and walk past the sink to the drawers.", + "Open the drawer immediately to the left of the ladle on the counter and put the knife in it." + ], + "task_desc": "Move a knife from a counter top to a drawer.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3MLUEOP3CCLXL_3K3R2QNK8EKNVJS5M83019MPXFIU9L", + "high_descs": [ + "turn around and head to the counter between the stove and sink on your left", + "Pick up the knife that if on the counter between the stove and the sink", + "Turn left and open the drawer to the left of the sink", + "Place the knife in the drawer then close the drawer" + ], + "task_desc": "Place a knife in a drawer", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-CD-None-SideTable-329/trial_T20190908_002233_981326/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CD-None-SideTable-329/trial_T20190908_002233_981326/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..1e10b37716c131cc37632ea3f4a971c49cbd3517 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CD-None-SideTable-329/trial_T20190908_002233_981326/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 cd on 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_002233_981326)\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_28_bar__plus_00_dot_62_bar__plus_00_dot_99 - object\n AlarmClock_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_00_dot_83 - 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__minus_00_dot_12_bar__plus_00_dot_56_bar__minus_01_dot_66 - object\n Box_bar__plus_02_dot_45_bar__plus_00_dot_22_bar__minus_00_dot_04 - object\n CD_bar__plus_00_dot_19_bar__plus_00_dot_62_bar__plus_01_dot_07 - object\n CD_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_68 - object\n CD_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_00_dot_68 - object\n CellPhone_bar__minus_00_dot_48_bar__plus_00_dot_56_bar__minus_01_dot_66 - object\n CreditCard_bar__plus_00_dot_82_bar__plus_00_dot_68_bar__minus_02_dot_55 - object\n CreditCard_bar__plus_00_dot_95_bar__plus_00_dot_08_bar__minus_02_dot_40 - object\n KeyChain_bar__plus_01_dot_17_bar__plus_00_dot_68_bar__minus_02_dot_33 - object\n KeyChain_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_91 - 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_21 - 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__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_60 - object\n Mug_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_76 - object\n Mug_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_00_dot_60 - 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_28_bar__plus_00_dot_63_bar__plus_00_dot_68 - object\n Pencil_bar__minus_00_dot_43_bar__plus_00_dot_63_bar__plus_00_dot_91 - object\n Pencil_bar__minus_01_dot_26_bar__plus_00_dot_69_bar__minus_02_dot_51 - object\n Pen_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_76 - object\n Pen_bar__minus_01_dot_26_bar__plus_00_dot_68_bar__minus_02_dot_33 - object\n Pillow_bar__plus_00_dot_25_bar__plus_00_dot_65_bar__minus_01_dot_66 - object\n Pillow_bar__minus_00_dot_48_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_5_bar__minus_3_bar_2_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 Pencil_bar__minus_00_dot_28_bar__plus_00_dot_63_bar__plus_00_dot_68 PencilType)\n (objectType Pen_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_76 PenType)\n (objectType Painting_bar__plus_00_dot_00_bar__plus_01_dot_56_bar__minus_02_dot_69 PaintingType)\n (objectType Mug_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_00_dot_60 MugType)\n (objectType Pencil_bar__minus_01_dot_26_bar__plus_00_dot_69_bar__minus_02_dot_51 PencilType)\n (objectType AlarmClock_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_00_dot_83 AlarmClockType)\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 Mug_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_76 MugType)\n (objectType Pen_bar__minus_01_dot_26_bar__plus_00_dot_68_bar__minus_02_dot_33 PenType)\n (objectType Pillow_bar__plus_00_dot_25_bar__plus_00_dot_65_bar__minus_01_dot_66 PillowType)\n (objectType CD_bar__plus_00_dot_19_bar__plus_00_dot_62_bar__plus_01_dot_07 CDType)\n (objectType Blinds_bar__minus_01_dot_46_bar__plus_02_dot_16_bar__minus_01_dot_34 BlindsType)\n (objectType KeyChain_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_91 KeyChainType)\n (objectType Pillow_bar__minus_00_dot_48_bar__plus_00_dot_65_bar__minus_01_dot_21 PillowType)\n (objectType Window_bar__minus_01_dot_56_bar__plus_01_dot_42_bar__minus_00_dot_06 WindowType)\n (objectType CreditCard_bar__plus_00_dot_95_bar__plus_00_dot_08_bar__minus_02_dot_40 CreditCardType)\n (objectType AlarmClock_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_99 AlarmClockType)\n (objectType Mug_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_60 MugType)\n (objectType CellPhone_bar__minus_00_dot_48_bar__plus_00_dot_56_bar__minus_01_dot_66 CellPhoneType)\n (objectType CD_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_00_dot_68 CDType)\n (objectType CD_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_68 CDType)\n (objectType Window_bar__minus_01_dot_56_bar__plus_01_dot_42_bar__minus_01_dot_36 WindowType)\n (objectType Book_bar__minus_00_dot_12_bar__plus_00_dot_56_bar__minus_01_dot_66 BookType)\n (objectType Blinds_bar__minus_01_dot_46_bar__plus_02_dot_16_bar__minus_00_dot_05 BlindsType)\n (objectType CreditCard_bar__plus_00_dot_82_bar__plus_00_dot_68_bar__minus_02_dot_55 CreditCardType)\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 KeyChain_bar__plus_01_dot_17_bar__plus_00_dot_68_bar__minus_02_dot_33 KeyChainType)\n (objectType Pencil_bar__minus_00_dot_43_bar__plus_00_dot_63_bar__plus_00_dot_91 PencilType)\n (objectType Laptop_bar__plus_00_dot_25_bar__plus_00_dot_55_bar__minus_01_dot_21 LaptopType)\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 Pencil_bar__minus_00_dot_28_bar__plus_00_dot_63_bar__plus_00_dot_68)\n (pickupable Pen_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_76)\n (pickupable Mug_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_00_dot_60)\n (pickupable Pencil_bar__minus_01_dot_26_bar__plus_00_dot_69_bar__minus_02_dot_51)\n (pickupable AlarmClock_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_00_dot_83)\n (pickupable Mug_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_76)\n (pickupable Pen_bar__minus_01_dot_26_bar__plus_00_dot_68_bar__minus_02_dot_33)\n (pickupable Pillow_bar__plus_00_dot_25_bar__plus_00_dot_65_bar__minus_01_dot_66)\n (pickupable CD_bar__plus_00_dot_19_bar__plus_00_dot_62_bar__plus_01_dot_07)\n (pickupable KeyChain_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_91)\n (pickupable Pillow_bar__minus_00_dot_48_bar__plus_00_dot_65_bar__minus_01_dot_21)\n (pickupable CreditCard_bar__plus_00_dot_95_bar__plus_00_dot_08_bar__minus_02_dot_40)\n (pickupable AlarmClock_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_99)\n (pickupable Mug_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_60)\n (pickupable CellPhone_bar__minus_00_dot_48_bar__plus_00_dot_56_bar__minus_01_dot_66)\n (pickupable CD_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_00_dot_68)\n (pickupable CD_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_68)\n (pickupable Book_bar__minus_00_dot_12_bar__plus_00_dot_56_bar__minus_01_dot_66)\n (pickupable CreditCard_bar__plus_00_dot_82_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 KeyChain_bar__plus_01_dot_17_bar__plus_00_dot_68_bar__minus_02_dot_33)\n (pickupable Pencil_bar__minus_00_dot_43_bar__plus_00_dot_63_bar__plus_00_dot_91)\n (pickupable Laptop_bar__plus_00_dot_25_bar__plus_00_dot_55_bar__minus_01_dot_21)\n (isReceptacleObject Mug_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_00_dot_60)\n (isReceptacleObject Mug_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_76)\n (isReceptacleObject Mug_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_60)\n (isReceptacleObject Box_bar__plus_02_dot_45_bar__plus_00_dot_22_bar__minus_00_dot_04)\n (openable Drawer_bar__plus_01_dot_00_bar__plus_00_dot_17_bar__minus_02_dot_39)\n (openable Drawer_bar__plus_01_dot_00_bar__plus_00_dot_46_bar__minus_02_dot_39)\n \n (atLocation agent1 loc_bar_5_bar__minus_3_bar_2_bar_30)\n \n (cleanable Mug_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_00_dot_60)\n (cleanable Mug_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_76)\n (cleanable Mug_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_60)\n \n (heatable Mug_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_00_dot_60)\n (heatable Mug_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_76)\n (heatable Mug_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_60)\n (coolable Mug_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_00_dot_60)\n (coolable Mug_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_76)\n (coolable Mug_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_60)\n \n \n \n \n \n \n \n (inReceptacle Pillow_bar__plus_00_dot_25_bar__plus_00_dot_65_bar__minus_01_dot_66 Bed_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_01_dot_70)\n (inReceptacle Book_bar__minus_00_dot_12_bar__plus_00_dot_56_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_48_bar__plus_00_dot_56_bar__minus_01_dot_66 Bed_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_01_dot_70)\n (inReceptacle Laptop_bar__plus_00_dot_25_bar__plus_00_dot_55_bar__minus_01_dot_21 Bed_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_01_dot_70)\n (inReceptacle Pillow_bar__minus_00_dot_48_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 CreditCard_bar__plus_00_dot_95_bar__plus_00_dot_08_bar__minus_02_dot_40 Drawer_bar__plus_01_dot_00_bar__plus_00_dot_17_bar__minus_02_dot_39)\n (inReceptacle Pencil_bar__minus_00_dot_28_bar__plus_00_dot_63_bar__plus_00_dot_68 DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83)\n (inReceptacle Pen_bar__minus_00_dot_43_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_74_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 AlarmClock_bar__minus_00_dot_28_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 CD_bar__plus_00_dot_19_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 AlarmClock_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_00_dot_83 DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83)\n (inReceptacle Pencil_bar__minus_00_dot_43_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 Mug_bar__minus_00_dot_28_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 CD_bar__minus_00_dot_59_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 KeyChain_bar__minus_00_dot_12_bar__plus_00_dot_62_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_43_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 Mug_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 Pencil_bar__minus_01_dot_26_bar__plus_00_dot_69_bar__minus_02_dot_51 SideTable_bar__minus_01_dot_20_bar__plus_00_dot_01_bar__minus_02_dot_47)\n (inReceptacle Pen_bar__minus_01_dot_26_bar__plus_00_dot_68_bar__minus_02_dot_33 SideTable_bar__minus_01_dot_20_bar__plus_00_dot_01_bar__minus_02_dot_47)\n (inReceptacle CreditCard_bar__plus_00_dot_82_bar__plus_00_dot_68_bar__minus_02_dot_55 SideTable_bar__plus_01_dot_00_bar__plus_00_dot_01_bar__minus_02_dot_47)\n (inReceptacle KeyChain_bar__plus_01_dot_17_bar__plus_00_dot_68_bar__minus_02_dot_33 SideTable_bar__plus_01_dot_00_bar__plus_00_dot_01_bar__minus_02_dot_47)\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__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_60 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation CD_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_00_dot_68 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation AlarmClock_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_00_dot_83 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Pen_bar__minus_01_dot_26_bar__plus_00_dot_68_bar__minus_02_dot_33 loc_bar__minus_4_bar__minus_2_bar_2_bar_45)\n (objectAtLocation CreditCard_bar__plus_00_dot_82_bar__plus_00_dot_68_bar__minus_02_dot_55 loc_bar_8_bar__minus_8_bar_3_bar_60)\n (objectAtLocation Pencil_bar__minus_00_dot_43_bar__plus_00_dot_63_bar__plus_00_dot_91 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Pillow_bar__minus_00_dot_48_bar__plus_00_dot_65_bar__minus_01_dot_21 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_91 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_51 loc_bar__minus_4_bar__minus_2_bar_2_bar_45)\n (objectAtLocation CD_bar__plus_00_dot_19_bar__plus_00_dot_62_bar__plus_01_dot_07 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_00_dot_60 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__minus_00_dot_12_bar__plus_00_dot_56_bar__minus_01_dot_66 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__plus_01_dot_17_bar__plus_00_dot_68_bar__minus_02_dot_33 loc_bar_8_bar__minus_8_bar_3_bar_60)\n (objectAtLocation Pillow_bar__plus_00_dot_25_bar__plus_00_dot_65_bar__minus_01_dot_66 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_28_bar__plus_00_dot_63_bar__plus_00_dot_68 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation CellPhone_bar__minus_00_dot_48_bar__plus_00_dot_56_bar__minus_01_dot_66 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__plus_00_dot_95_bar__plus_00_dot_08_bar__minus_02_dot_40 loc_bar_5_bar__minus_5_bar_2_bar_45)\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_43_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__plus_00_dot_25_bar__plus_00_dot_55_bar__minus_01_dot_21 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_28_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_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_68 loc_bar__minus_2_bar__minus_2_bar_0_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_00_dot_76 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 CDType)\n (receptacleType ?r SideTableType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 1", "take cd 3 from diningtable 1", "go to sidetable 1", "move cd 3 to sidetable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-CD-None-SideTable-329/trial_T20190908_002233_981326/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CD-None-SideTable-329/trial_T20190908_002233_981326/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..b576f940afe660ab8b98983132f7e7ddf6e98deb --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CD-None-SideTable-329/trial_T20190908_002233_981326/initial_state.pddl @@ -0,0 +1,504 @@ + +(define (problem plan_trial_T20190908_002233_981326) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_28_bar__plus_00_dot_62_bar__plus_00_dot_99 - object + AlarmClock_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_00_dot_83 - 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__minus_00_dot_12_bar__plus_00_dot_56_bar__minus_01_dot_66 - object + Box_bar__plus_02_dot_45_bar__plus_00_dot_22_bar__minus_00_dot_04 - object + CD_bar__plus_00_dot_19_bar__plus_00_dot_62_bar__plus_01_dot_07 - object + CD_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_68 - object + CD_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_00_dot_68 - object + CellPhone_bar__minus_00_dot_48_bar__plus_00_dot_56_bar__minus_01_dot_66 - object + CreditCard_bar__plus_00_dot_82_bar__plus_00_dot_68_bar__minus_02_dot_55 - object + CreditCard_bar__plus_00_dot_95_bar__plus_00_dot_08_bar__minus_02_dot_40 - object + KeyChain_bar__plus_01_dot_17_bar__plus_00_dot_68_bar__minus_02_dot_33 - object + KeyChain_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_91 - 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_21 - 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__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_60 - object + Mug_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_76 - object + Mug_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_00_dot_60 - object + Painting_bar__plus_00_dot_00_bar__plus_01_dot_56_bar__minus_02_dot_69 - object + Pencil_bar__minus_00_dot_28_bar__plus_00_dot_63_bar__plus_00_dot_68 - object + Pencil_bar__minus_00_dot_43_bar__plus_00_dot_63_bar__plus_00_dot_91 - object + Pencil_bar__minus_01_dot_26_bar__plus_00_dot_69_bar__minus_02_dot_51 - object + Pen_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_76 - object + Pen_bar__minus_01_dot_26_bar__plus_00_dot_68_bar__minus_02_dot_33 - object + Pillow_bar__plus_00_dot_25_bar__plus_00_dot_65_bar__minus_01_dot_66 - object + Pillow_bar__minus_00_dot_48_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_5_bar__minus_3_bar_2_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 Pencil_bar__minus_00_dot_28_bar__plus_00_dot_63_bar__plus_00_dot_68 PencilType) + (objectType Pen_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_76 PenType) + (objectType Painting_bar__plus_00_dot_00_bar__plus_01_dot_56_bar__minus_02_dot_69 PaintingType) + (objectType Mug_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_00_dot_60 MugType) + (objectType Pencil_bar__minus_01_dot_26_bar__plus_00_dot_69_bar__minus_02_dot_51 PencilType) + (objectType AlarmClock_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_00_dot_83 AlarmClockType) + (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 Mug_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_76 MugType) + (objectType Pen_bar__minus_01_dot_26_bar__plus_00_dot_68_bar__minus_02_dot_33 PenType) + (objectType Pillow_bar__plus_00_dot_25_bar__plus_00_dot_65_bar__minus_01_dot_66 PillowType) + (objectType CD_bar__plus_00_dot_19_bar__plus_00_dot_62_bar__plus_01_dot_07 CDType) + (objectType Blinds_bar__minus_01_dot_46_bar__plus_02_dot_16_bar__minus_01_dot_34 BlindsType) + (objectType KeyChain_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_91 KeyChainType) + (objectType Pillow_bar__minus_00_dot_48_bar__plus_00_dot_65_bar__minus_01_dot_21 PillowType) + (objectType Window_bar__minus_01_dot_56_bar__plus_01_dot_42_bar__minus_00_dot_06 WindowType) + (objectType CreditCard_bar__plus_00_dot_95_bar__plus_00_dot_08_bar__minus_02_dot_40 CreditCardType) + (objectType AlarmClock_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_99 AlarmClockType) + (objectType Mug_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_60 MugType) + (objectType CellPhone_bar__minus_00_dot_48_bar__plus_00_dot_56_bar__minus_01_dot_66 CellPhoneType) + (objectType CD_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_00_dot_68 CDType) + (objectType CD_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_68 CDType) + (objectType Window_bar__minus_01_dot_56_bar__plus_01_dot_42_bar__minus_01_dot_36 WindowType) + (objectType Book_bar__minus_00_dot_12_bar__plus_00_dot_56_bar__minus_01_dot_66 BookType) + (objectType Blinds_bar__minus_01_dot_46_bar__plus_02_dot_16_bar__minus_00_dot_05 BlindsType) + (objectType CreditCard_bar__plus_00_dot_82_bar__plus_00_dot_68_bar__minus_02_dot_55 CreditCardType) + (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 KeyChain_bar__plus_01_dot_17_bar__plus_00_dot_68_bar__minus_02_dot_33 KeyChainType) + (objectType Pencil_bar__minus_00_dot_43_bar__plus_00_dot_63_bar__plus_00_dot_91 PencilType) + (objectType Laptop_bar__plus_00_dot_25_bar__plus_00_dot_55_bar__minus_01_dot_21 LaptopType) + (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 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Pencil_bar__minus_00_dot_43_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 Mug_bar__minus_00_dot_28_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 CD_bar__minus_00_dot_59_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 KeyChain_bar__minus_00_dot_12_bar__plus_00_dot_62_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_43_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 Mug_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 Pencil_bar__minus_01_dot_26_bar__plus_00_dot_69_bar__minus_02_dot_51 SideTable_bar__minus_01_dot_20_bar__plus_00_dot_01_bar__minus_02_dot_47) + (inReceptacle Pen_bar__minus_01_dot_26_bar__plus_00_dot_68_bar__minus_02_dot_33 SideTable_bar__minus_01_dot_20_bar__plus_00_dot_01_bar__minus_02_dot_47) + (inReceptacle CreditCard_bar__plus_00_dot_82_bar__plus_00_dot_68_bar__minus_02_dot_55 SideTable_bar__plus_01_dot_00_bar__plus_00_dot_01_bar__minus_02_dot_47) + (inReceptacle KeyChain_bar__plus_01_dot_17_bar__plus_00_dot_68_bar__minus_02_dot_33 SideTable_bar__plus_01_dot_00_bar__plus_00_dot_01_bar__minus_02_dot_47) + + + (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__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_60 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (objectAtLocation 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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_28_bar__plus_00_dot_63_bar__plus_00_dot_68 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (objectAtLocation CellPhone_bar__minus_00_dot_48_bar__plus_00_dot_56_bar__minus_01_dot_66 loc_bar__minus_1_bar__minus_2_bar_2_bar_60) + (objectAtLocation CreditCard_bar__plus_00_dot_95_bar__plus_00_dot_08_bar__minus_02_dot_40 loc_bar_5_bar__minus_5_bar_2_bar_45) + (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_43_bar__plus_00_dot_62_bar__plus_00_dot_76 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_21 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_28_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_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_68 loc_bar__minus_2_bar__minus_2_bar_0_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_00_dot_76 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 CDType) + (receptacleType ?r SideTableType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-CD-None-SideTable-329/trial_T20190908_002233_981326/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CD-None-SideTable-329/trial_T20190908_002233_981326/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..0783e272ede00fc940e45c02993584213205bf69 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CD-None-SideTable-329/trial_T20190908_002233_981326/traj_data.json @@ -0,0 +1,2659 @@ +{ + "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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0.599143863 + }, + "rotation": { + "x": 0.0, + "y": 180.00032, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 637642907, + "scene_num": 329 + }, + "task_id": "trial_T20190908_002233_981326", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3SFPSMFRSRTB3_32XVDSJFP2ETIR2XSXXZ0CXHEBYM2Y", + "high_descs": [ + "Turn around, move slightly to the left and proceed to the table.", + "Remove the left cd, closest to the lower alarm clock.", + "Turn left, proceed to window. Turn left, proceed to nightstand.", + "Place cd on left side of nightstand to the left of the pen and pencil." + ], + "task_desc": "Move cd from table to nightstand.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1RLO9LNUJIW5S_3L4PIM1GQWXAGS8WQQ0BVFSWZDVYRI", + "high_descs": [ + "Turn right and walk to the bed then turn right and walk just past the bed then turn left and walk until you're even with the table to your right and when you are turn right and walk to it.", + "Pick up the cd farthest to the left.", + "Turn left and walk to the wall then turn left and walk to the nightstand.", + "Put the cd on the nightstand to the left of the pencil on the bottom edge." + ], + "task_desc": "Put a cd on the nightstand.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A38Z99XF4NDNH0_3P4RDNWND8N7S4AEE35Z70CHZD1IJ2", + "high_descs": [ + "Move to the white table opposite of the foot of the bed with the CD on top of it", + "Pick up the CD on top of the table", + "Carry the CD to the brown night stand to the right of the bed", + "Place the CD on the front left corner of the night stand" + ], + "task_desc": "Move a CD 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-CD-None-SideTable-329/trial_T20190908_002246_523800/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CD-None-SideTable-329/trial_T20190908_002246_523800/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..518196596bd93a86a65f9f5df357f6eeb229054b --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CD-None-SideTable-329/trial_T20190908_002246_523800/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 cd on 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_002246_523800)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n AlarmClock_bar__plus_01_dot_11_bar__plus_00_dot_68_bar__minus_02_dot_55 - object\n AlarmClock_bar__minus_00_dot_12_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_43_bar__plus_00_dot_56_bar__minus_01_dot_43 - object\n Book_bar__minus_00_dot_12_bar__plus_00_dot_56_bar__minus_02_dot_10 - object\n Book_bar__minus_00_dot_30_bar__plus_00_dot_56_bar__minus_02_dot_10 - 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_74_bar__plus_00_dot_62_bar__plus_00_dot_99 - object\n CellPhone_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_76 - object\n CellPhone_bar__minus_01_dot_14_bar__plus_00_dot_68_bar__minus_02_dot_51 - object\n CreditCard_bar__plus_01_dot_04_bar__plus_00_dot_37_bar__minus_02_dot_38 - object\n CreditCard_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_83 - object\n KeyChain_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_76 - object\n KeyChain_bar__plus_01_dot_13_bar__plus_00_dot_08_bar__minus_02_dot_42 - object\n KeyChain_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_76 - 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_00_dot_99 - 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__minus_01_dot_03_bar__plus_00_dot_67_bar__minus_02_dot_51 - object\n Mug_bar__minus_01_dot_32_bar__plus_00_dot_68_bar__minus_02_dot_42 - object\n Mug_bar__minus_01_dot_38_bar__plus_00_dot_67_bar__minus_02_dot_60 - 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_43_bar__plus_00_dot_62_bar__plus_00_dot_68 - object\n Pencil_bar__minus_01_dot_25_bar__plus_00_dot_09_bar__minus_02_dot_40 - object\n Pencil_bar__minus_01_dot_32_bar__plus_00_dot_68_bar__minus_02_dot_51 - object\n Pen_bar__plus_01_dot_00_bar__plus_00_dot_69_bar__minus_02_dot_33 - object\n Pillow_bar__plus_00_dot_06_bar__plus_00_dot_65_bar__minus_01_dot_43 - 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__minus_4_bar__minus_1_bar_2_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 CellPhone_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_76 CellPhoneType)\n (objectType Mug_bar__minus_01_dot_03_bar__plus_00_dot_67_bar__minus_02_dot_51 MugType)\n (objectType Book_bar__plus_00_dot_43_bar__plus_00_dot_56_bar__minus_01_dot_43 BookType)\n (objectType Laptop_bar__plus_00_dot_25_bar__plus_00_dot_55_bar__minus_00_dot_99 LaptopType)\n (objectType AlarmClock_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_99 AlarmClockType)\n (objectType KeyChain_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_76 KeyChainType)\n (objectType Pillow_bar__plus_00_dot_06_bar__plus_00_dot_65_bar__minus_01_dot_43 PillowType)\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 Mug_bar__minus_01_dot_32_bar__plus_00_dot_68_bar__minus_02_dot_42 MugType)\n (objectType Book_bar__minus_00_dot_12_bar__plus_00_dot_56_bar__minus_02_dot_10 BookType)\n (objectType Pencil_bar__minus_01_dot_32_bar__plus_00_dot_68_bar__minus_02_dot_51 PencilType)\n (objectType Pencil_bar__minus_01_dot_25_bar__plus_00_dot_09_bar__minus_02_dot_40 PencilType)\n (objectType AlarmClock_bar__plus_01_dot_11_bar__plus_00_dot_68_bar__minus_02_dot_55 AlarmClockType)\n (objectType Mug_bar__minus_01_dot_38_bar__plus_00_dot_67_bar__minus_02_dot_60 MugType)\n (objectType Blinds_bar__minus_01_dot_46_bar__plus_02_dot_16_bar__minus_01_dot_34 BlindsType)\n (objectType Window_bar__minus_01_dot_56_bar__plus_01_dot_42_bar__minus_00_dot_06 WindowType)\n (objectType CD_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_00_dot_99 CDType)\n (objectType Book_bar__minus_00_dot_30_bar__plus_00_dot_56_bar__minus_02_dot_10 BookType)\n (objectType Pencil_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_68 PencilType)\n (objectType Pen_bar__plus_01_dot_00_bar__plus_00_dot_69_bar__minus_02_dot_33 PenType)\n (objectType Window_bar__minus_01_dot_56_bar__plus_01_dot_42_bar__minus_01_dot_36 WindowType)\n (objectType CellPhone_bar__minus_01_dot_14_bar__plus_00_dot_68_bar__minus_02_dot_51 CellPhoneType)\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 CreditCard_bar__plus_01_dot_04_bar__plus_00_dot_37_bar__minus_02_dot_38 CreditCardType)\n (objectType KeyChain_bar__plus_01_dot_13_bar__plus_00_dot_08_bar__minus_02_dot_42 KeyChainType)\n (objectType CreditCard_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_83 CreditCardType)\n (objectType KeyChain_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_76 KeyChainType)\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 CellPhone_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_76)\n (pickupable Mug_bar__minus_01_dot_03_bar__plus_00_dot_67_bar__minus_02_dot_51)\n (pickupable Book_bar__plus_00_dot_43_bar__plus_00_dot_56_bar__minus_01_dot_43)\n (pickupable Laptop_bar__plus_00_dot_25_bar__plus_00_dot_55_bar__minus_00_dot_99)\n (pickupable AlarmClock_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_99)\n (pickupable KeyChain_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_76)\n (pickupable Pillow_bar__plus_00_dot_06_bar__plus_00_dot_65_bar__minus_01_dot_43)\n (pickupable Mug_bar__minus_01_dot_32_bar__plus_00_dot_68_bar__minus_02_dot_42)\n (pickupable Book_bar__minus_00_dot_12_bar__plus_00_dot_56_bar__minus_02_dot_10)\n (pickupable Pencil_bar__minus_01_dot_32_bar__plus_00_dot_68_bar__minus_02_dot_51)\n (pickupable Pencil_bar__minus_01_dot_25_bar__plus_00_dot_09_bar__minus_02_dot_40)\n (pickupable AlarmClock_bar__plus_01_dot_11_bar__plus_00_dot_68_bar__minus_02_dot_55)\n (pickupable Mug_bar__minus_01_dot_38_bar__plus_00_dot_67_bar__minus_02_dot_60)\n (pickupable CD_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_00_dot_99)\n (pickupable Book_bar__minus_00_dot_30_bar__plus_00_dot_56_bar__minus_02_dot_10)\n (pickupable Pencil_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_68)\n (pickupable Pen_bar__plus_01_dot_00_bar__plus_00_dot_69_bar__minus_02_dot_33)\n (pickupable CellPhone_bar__minus_01_dot_14_bar__plus_00_dot_68_bar__minus_02_dot_51)\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 CreditCard_bar__plus_01_dot_04_bar__plus_00_dot_37_bar__minus_02_dot_38)\n (pickupable KeyChain_bar__plus_01_dot_13_bar__plus_00_dot_08_bar__minus_02_dot_42)\n (pickupable CreditCard_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_83)\n (pickupable KeyChain_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_76)\n (isReceptacleObject Mug_bar__minus_01_dot_03_bar__plus_00_dot_67_bar__minus_02_dot_51)\n (isReceptacleObject Mug_bar__minus_01_dot_32_bar__plus_00_dot_68_bar__minus_02_dot_42)\n (isReceptacleObject Mug_bar__minus_01_dot_38_bar__plus_00_dot_67_bar__minus_02_dot_60)\n (isReceptacleObject Box_bar__plus_02_dot_45_bar__plus_00_dot_22_bar__minus_00_dot_04)\n (openable Drawer_bar__plus_01_dot_00_bar__plus_00_dot_17_bar__minus_02_dot_39)\n (openable Drawer_bar__plus_01_dot_00_bar__plus_00_dot_46_bar__minus_02_dot_39)\n \n (atLocation agent1 loc_bar__minus_4_bar__minus_1_bar_2_bar_30)\n \n (cleanable Mug_bar__minus_01_dot_03_bar__plus_00_dot_67_bar__minus_02_dot_51)\n (cleanable Mug_bar__minus_01_dot_32_bar__plus_00_dot_68_bar__minus_02_dot_42)\n (cleanable Mug_bar__minus_01_dot_38_bar__plus_00_dot_67_bar__minus_02_dot_60)\n \n (heatable Mug_bar__minus_01_dot_03_bar__plus_00_dot_67_bar__minus_02_dot_51)\n (heatable Mug_bar__minus_01_dot_32_bar__plus_00_dot_68_bar__minus_02_dot_42)\n (heatable Mug_bar__minus_01_dot_38_bar__plus_00_dot_67_bar__minus_02_dot_60)\n (coolable Mug_bar__minus_01_dot_03_bar__plus_00_dot_67_bar__minus_02_dot_51)\n (coolable Mug_bar__minus_01_dot_32_bar__plus_00_dot_68_bar__minus_02_dot_42)\n (coolable Mug_bar__minus_01_dot_38_bar__plus_00_dot_67_bar__minus_02_dot_60)\n \n \n \n \n \n \n \n (inReceptacle Book_bar__plus_00_dot_43_bar__plus_00_dot_56_bar__minus_01_dot_43 Bed_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_01_dot_70)\n (inReceptacle Laptop_bar__plus_00_dot_25_bar__plus_00_dot_55_bar__minus_00_dot_99 Bed_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_01_dot_70)\n (inReceptacle Pillow_bar__plus_00_dot_06_bar__plus_00_dot_65_bar__minus_01_dot_43 Bed_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_01_dot_70)\n (inReceptacle Book_bar__minus_00_dot_30_bar__plus_00_dot_56_bar__minus_02_dot_10 Bed_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_01_dot_70)\n (inReceptacle Book_bar__minus_00_dot_12_bar__plus_00_dot_56_bar__minus_02_dot_10 Bed_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_01_dot_70)\n (inReceptacle KeyChain_bar__plus_01_dot_13_bar__plus_00_dot_08_bar__minus_02_dot_42 Drawer_bar__plus_01_dot_00_bar__plus_00_dot_17_bar__minus_02_dot_39)\n (inReceptacle CellPhone_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 CD_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 AlarmClock_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 KeyChain_bar__plus_00_dot_03_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 CreditCard_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_83 DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83)\n (inReceptacle KeyChain_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 Pencil_bar__minus_00_dot_43_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__plus_01_dot_04_bar__plus_00_dot_37_bar__minus_02_dot_38 Drawer_bar__plus_01_dot_00_bar__plus_00_dot_46_bar__minus_02_dot_39)\n (inReceptacle CellPhone_bar__minus_01_dot_14_bar__plus_00_dot_68_bar__minus_02_dot_51 SideTable_bar__minus_01_dot_20_bar__plus_00_dot_01_bar__minus_02_dot_47)\n (inReceptacle Mug_bar__minus_01_dot_03_bar__plus_00_dot_67_bar__minus_02_dot_51 SideTable_bar__minus_01_dot_20_bar__plus_00_dot_01_bar__minus_02_dot_47)\n (inReceptacle Mug_bar__minus_01_dot_38_bar__plus_00_dot_67_bar__minus_02_dot_60 SideTable_bar__minus_01_dot_20_bar__plus_00_dot_01_bar__minus_02_dot_47)\n (inReceptacle Mug_bar__minus_01_dot_32_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 Pencil_bar__minus_01_dot_32_bar__plus_00_dot_68_bar__minus_02_dot_51 SideTable_bar__minus_01_dot_20_bar__plus_00_dot_01_bar__minus_02_dot_47)\n (inReceptacle Pencil_bar__minus_01_dot_25_bar__plus_00_dot_09_bar__minus_02_dot_40 Drawer_bar__minus_01_dot_20_bar__plus_00_dot_17_bar__minus_02_dot_39)\n (inReceptacle AlarmClock_bar__plus_01_dot_11_bar__plus_00_dot_68_bar__minus_02_dot_55 SideTable_bar__plus_01_dot_00_bar__plus_00_dot_01_bar__minus_02_dot_47)\n (inReceptacle Pen_bar__plus_01_dot_00_bar__plus_00_dot_69_bar__minus_02_dot_33 SideTable_bar__plus_01_dot_00_bar__plus_00_dot_01_bar__minus_02_dot_47)\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__minus_01_dot_32_bar__plus_00_dot_68_bar__minus_02_dot_42 loc_bar__minus_4_bar__minus_2_bar_2_bar_45)\n (objectAtLocation AlarmClock_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 CreditCard_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_83 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation CellPhone_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 Pencil_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_68 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation KeyChain_bar__plus_01_dot_13_bar__plus_00_dot_08_bar__minus_02_dot_42 loc_bar_5_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Book_bar__minus_00_dot_30_bar__plus_00_dot_56_bar__minus_02_dot_10 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Book_bar__plus_00_dot_43_bar__plus_00_dot_56_bar__minus_01_dot_43 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__plus_00_dot_03_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_32_bar__plus_00_dot_68_bar__minus_02_dot_51 loc_bar__minus_4_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Mug_bar__minus_01_dot_38_bar__plus_00_dot_67_bar__minus_02_dot_60 loc_bar__minus_4_bar__minus_2_bar_2_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__minus_00_dot_12_bar__plus_00_dot_56_bar__minus_02_dot_10 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation KeyChain_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 Pillow_bar__plus_00_dot_06_bar__plus_00_dot_65_bar__minus_01_dot_43 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_01_dot_25_bar__plus_00_dot_09_bar__minus_02_dot_40 loc_bar__minus_4_bar__minus_2_bar_2_bar_45)\n (objectAtLocation CellPhone_bar__minus_01_dot_14_bar__plus_00_dot_68_bar__minus_02_dot_51 loc_bar__minus_4_bar__minus_2_bar_2_bar_45)\n (objectAtLocation CreditCard_bar__plus_01_dot_04_bar__plus_00_dot_37_bar__minus_02_dot_38 loc_bar_5_bar__minus_6_bar_2_bar_60)\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__plus_01_dot_00_bar__plus_00_dot_69_bar__minus_02_dot_33 loc_bar_8_bar__minus_8_bar_3_bar_60)\n (objectAtLocation Laptop_bar__plus_00_dot_25_bar__plus_00_dot_55_bar__minus_00_dot_99 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__plus_01_dot_11_bar__plus_00_dot_68_bar__minus_02_dot_55 loc_bar_8_bar__minus_8_bar_3_bar_60)\n (objectAtLocation CD_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 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_01_dot_03_bar__plus_00_dot_67_bar__minus_02_dot_51 loc_bar__minus_4_bar__minus_2_bar_2_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 CDType)\n (receptacleType ?r SideTableType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 1", "take cd 1 from diningtable 1", "go to sidetable 1", "move cd 1 to sidetable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-CD-None-SideTable-329/trial_T20190908_002246_523800/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CD-None-SideTable-329/trial_T20190908_002246_523800/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..dbbfcf8d5bfcbc273af7d38711592112a3c9dbe3 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CD-None-SideTable-329/trial_T20190908_002246_523800/initial_state.pddl @@ -0,0 +1,504 @@ + +(define (problem plan_trial_T20190908_002246_523800) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + AlarmClock_bar__plus_01_dot_11_bar__plus_00_dot_68_bar__minus_02_dot_55 - object + AlarmClock_bar__minus_00_dot_12_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_43_bar__plus_00_dot_56_bar__minus_01_dot_43 - object + Book_bar__minus_00_dot_12_bar__plus_00_dot_56_bar__minus_02_dot_10 - object + Book_bar__minus_00_dot_30_bar__plus_00_dot_56_bar__minus_02_dot_10 - object + Box_bar__plus_02_dot_45_bar__plus_00_dot_22_bar__minus_00_dot_04 - object + CD_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_00_dot_99 - object + CellPhone_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_76 - object + CellPhone_bar__minus_01_dot_14_bar__plus_00_dot_68_bar__minus_02_dot_51 - object + CreditCard_bar__plus_01_dot_04_bar__plus_00_dot_37_bar__minus_02_dot_38 - object + CreditCard_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_83 - object + KeyChain_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_76 - object + KeyChain_bar__plus_01_dot_13_bar__plus_00_dot_08_bar__minus_02_dot_42 - object + KeyChain_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_76 - 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_00_dot_99 - 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__minus_01_dot_03_bar__plus_00_dot_67_bar__minus_02_dot_51 - object + Mug_bar__minus_01_dot_32_bar__plus_00_dot_68_bar__minus_02_dot_42 - object + Mug_bar__minus_01_dot_38_bar__plus_00_dot_67_bar__minus_02_dot_60 - object + Painting_bar__plus_00_dot_00_bar__plus_01_dot_56_bar__minus_02_dot_69 - object + Pencil_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_68 - object + Pencil_bar__minus_01_dot_25_bar__plus_00_dot_09_bar__minus_02_dot_40 - object + Pencil_bar__minus_01_dot_32_bar__plus_00_dot_68_bar__minus_02_dot_51 - object + Pen_bar__plus_01_dot_00_bar__plus_00_dot_69_bar__minus_02_dot_33 - object + Pillow_bar__plus_00_dot_06_bar__plus_00_dot_65_bar__minus_01_dot_43 - 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__minus_4_bar__minus_1_bar_2_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 CellPhone_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_76 CellPhoneType) + (objectType Mug_bar__minus_01_dot_03_bar__plus_00_dot_67_bar__minus_02_dot_51 MugType) + (objectType Book_bar__plus_00_dot_43_bar__plus_00_dot_56_bar__minus_01_dot_43 BookType) + (objectType Laptop_bar__plus_00_dot_25_bar__plus_00_dot_55_bar__minus_00_dot_99 LaptopType) + (objectType AlarmClock_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_99 AlarmClockType) + (objectType KeyChain_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_76 KeyChainType) + (objectType Pillow_bar__plus_00_dot_06_bar__plus_00_dot_65_bar__minus_01_dot_43 PillowType) + (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 Mug_bar__minus_01_dot_32_bar__plus_00_dot_68_bar__minus_02_dot_42 MugType) + (objectType Book_bar__minus_00_dot_12_bar__plus_00_dot_56_bar__minus_02_dot_10 BookType) + (objectType Pencil_bar__minus_01_dot_32_bar__plus_00_dot_68_bar__minus_02_dot_51 PencilType) + (objectType Pencil_bar__minus_01_dot_25_bar__plus_00_dot_09_bar__minus_02_dot_40 PencilType) + (objectType AlarmClock_bar__plus_01_dot_11_bar__plus_00_dot_68_bar__minus_02_dot_55 AlarmClockType) + (objectType Mug_bar__minus_01_dot_38_bar__plus_00_dot_67_bar__minus_02_dot_60 MugType) + (objectType Blinds_bar__minus_01_dot_46_bar__plus_02_dot_16_bar__minus_01_dot_34 BlindsType) + (objectType Window_bar__minus_01_dot_56_bar__plus_01_dot_42_bar__minus_00_dot_06 WindowType) + (objectType CD_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_00_dot_99 CDType) + (objectType Book_bar__minus_00_dot_30_bar__plus_00_dot_56_bar__minus_02_dot_10 BookType) + (objectType Pencil_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_68 PencilType) + (objectType Pen_bar__plus_01_dot_00_bar__plus_00_dot_69_bar__minus_02_dot_33 PenType) + (objectType Window_bar__minus_01_dot_56_bar__plus_01_dot_42_bar__minus_01_dot_36 WindowType) + (objectType CellPhone_bar__minus_01_dot_14_bar__plus_00_dot_68_bar__minus_02_dot_51 CellPhoneType) + (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 CreditCard_bar__plus_01_dot_04_bar__plus_00_dot_37_bar__minus_02_dot_38 CreditCardType) + (objectType KeyChain_bar__plus_01_dot_13_bar__plus_00_dot_08_bar__minus_02_dot_42 KeyChainType) + (objectType CreditCard_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_83 CreditCardType) + (objectType KeyChain_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_76 KeyChainType) + (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 CellPhone_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_76) + (pickupable Mug_bar__minus_01_dot_03_bar__plus_00_dot_67_bar__minus_02_dot_51) + (pickupable Book_bar__plus_00_dot_43_bar__plus_00_dot_56_bar__minus_01_dot_43) + (pickupable Laptop_bar__plus_00_dot_25_bar__plus_00_dot_55_bar__minus_00_dot_99) + (pickupable AlarmClock_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_99) + (pickupable KeyChain_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_76) + (pickupable Pillow_bar__plus_00_dot_06_bar__plus_00_dot_65_bar__minus_01_dot_43) + (pickupable Mug_bar__minus_01_dot_32_bar__plus_00_dot_68_bar__minus_02_dot_42) + (pickupable Book_bar__minus_00_dot_12_bar__plus_00_dot_56_bar__minus_02_dot_10) + (pickupable Pencil_bar__minus_01_dot_32_bar__plus_00_dot_68_bar__minus_02_dot_51) + (pickupable Pencil_bar__minus_01_dot_25_bar__plus_00_dot_09_bar__minus_02_dot_40) + (pickupable AlarmClock_bar__plus_01_dot_11_bar__plus_00_dot_68_bar__minus_02_dot_55) + (pickupable Mug_bar__minus_01_dot_38_bar__plus_00_dot_67_bar__minus_02_dot_60) + (pickupable CD_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_00_dot_99) + (pickupable Book_bar__minus_00_dot_30_bar__plus_00_dot_56_bar__minus_02_dot_10) + (pickupable Pencil_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_68) + (pickupable Pen_bar__plus_01_dot_00_bar__plus_00_dot_69_bar__minus_02_dot_33) + (pickupable CellPhone_bar__minus_01_dot_14_bar__plus_00_dot_68_bar__minus_02_dot_51) + (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 CreditCard_bar__plus_01_dot_04_bar__plus_00_dot_37_bar__minus_02_dot_38) + (pickupable KeyChain_bar__plus_01_dot_13_bar__plus_00_dot_08_bar__minus_02_dot_42) + (pickupable CreditCard_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_83) + (pickupable KeyChain_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_76) + (isReceptacleObject Mug_bar__minus_01_dot_03_bar__plus_00_dot_67_bar__minus_02_dot_51) + (isReceptacleObject Mug_bar__minus_01_dot_32_bar__plus_00_dot_68_bar__minus_02_dot_42) + (isReceptacleObject Mug_bar__minus_01_dot_38_bar__plus_00_dot_67_bar__minus_02_dot_60) + (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__minus_4_bar__minus_1_bar_2_bar_30) + + (cleanable Mug_bar__minus_01_dot_03_bar__plus_00_dot_67_bar__minus_02_dot_51) + (cleanable Mug_bar__minus_01_dot_32_bar__plus_00_dot_68_bar__minus_02_dot_42) + (cleanable Mug_bar__minus_01_dot_38_bar__plus_00_dot_67_bar__minus_02_dot_60) + + (heatable Mug_bar__minus_01_dot_03_bar__plus_00_dot_67_bar__minus_02_dot_51) + (heatable Mug_bar__minus_01_dot_32_bar__plus_00_dot_68_bar__minus_02_dot_42) + (heatable Mug_bar__minus_01_dot_38_bar__plus_00_dot_67_bar__minus_02_dot_60) + (coolable Mug_bar__minus_01_dot_03_bar__plus_00_dot_67_bar__minus_02_dot_51) + (coolable Mug_bar__minus_01_dot_32_bar__plus_00_dot_68_bar__minus_02_dot_42) + (coolable Mug_bar__minus_01_dot_38_bar__plus_00_dot_67_bar__minus_02_dot_60) + + + + + + + + (inReceptacle Book_bar__plus_00_dot_43_bar__plus_00_dot_56_bar__minus_01_dot_43 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_00_dot_99 Bed_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_01_dot_70) + (inReceptacle Pillow_bar__plus_00_dot_06_bar__plus_00_dot_65_bar__minus_01_dot_43 Bed_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_01_dot_70) + (inReceptacle Book_bar__minus_00_dot_30_bar__plus_00_dot_56_bar__minus_02_dot_10 Bed_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_01_dot_70) + (inReceptacle Book_bar__minus_00_dot_12_bar__plus_00_dot_56_bar__minus_02_dot_10 Bed_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_01_dot_70) + (inReceptacle KeyChain_bar__plus_01_dot_13_bar__plus_00_dot_08_bar__minus_02_dot_42 Drawer_bar__plus_01_dot_00_bar__plus_00_dot_17_bar__minus_02_dot_39) + (inReceptacle CellPhone_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 CD_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 AlarmClock_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 KeyChain_bar__plus_00_dot_03_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 CreditCard_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_83 DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83) + (inReceptacle KeyChain_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 Pencil_bar__minus_00_dot_43_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__plus_01_dot_04_bar__plus_00_dot_37_bar__minus_02_dot_38 Drawer_bar__plus_01_dot_00_bar__plus_00_dot_46_bar__minus_02_dot_39) + (inReceptacle CellPhone_bar__minus_01_dot_14_bar__plus_00_dot_68_bar__minus_02_dot_51 SideTable_bar__minus_01_dot_20_bar__plus_00_dot_01_bar__minus_02_dot_47) + (inReceptacle Mug_bar__minus_01_dot_03_bar__plus_00_dot_67_bar__minus_02_dot_51 SideTable_bar__minus_01_dot_20_bar__plus_00_dot_01_bar__minus_02_dot_47) + (inReceptacle Mug_bar__minus_01_dot_38_bar__plus_00_dot_67_bar__minus_02_dot_60 SideTable_bar__minus_01_dot_20_bar__plus_00_dot_01_bar__minus_02_dot_47) + (inReceptacle Mug_bar__minus_01_dot_32_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 Pencil_bar__minus_01_dot_32_bar__plus_00_dot_68_bar__minus_02_dot_51 SideTable_bar__minus_01_dot_20_bar__plus_00_dot_01_bar__minus_02_dot_47) + (inReceptacle Pencil_bar__minus_01_dot_25_bar__plus_00_dot_09_bar__minus_02_dot_40 Drawer_bar__minus_01_dot_20_bar__plus_00_dot_17_bar__minus_02_dot_39) + (inReceptacle AlarmClock_bar__plus_01_dot_11_bar__plus_00_dot_68_bar__minus_02_dot_55 SideTable_bar__plus_01_dot_00_bar__plus_00_dot_01_bar__minus_02_dot_47) + (inReceptacle Pen_bar__plus_01_dot_00_bar__plus_00_dot_69_bar__minus_02_dot_33 SideTable_bar__plus_01_dot_00_bar__plus_00_dot_01_bar__minus_02_dot_47) + + + (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__minus_01_dot_32_bar__plus_00_dot_68_bar__minus_02_dot_42 loc_bar__minus_4_bar__minus_2_bar_2_bar_45) + (objectAtLocation AlarmClock_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 CreditCard_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_83 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (objectAtLocation CellPhone_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 Pencil_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_68 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (objectAtLocation KeyChain_bar__plus_01_dot_13_bar__plus_00_dot_08_bar__minus_02_dot_42 loc_bar_5_bar__minus_5_bar_2_bar_45) + (objectAtLocation Book_bar__minus_00_dot_30_bar__plus_00_dot_56_bar__minus_02_dot_10 loc_bar__minus_1_bar__minus_2_bar_2_bar_60) + (objectAtLocation Book_bar__plus_00_dot_43_bar__plus_00_dot_56_bar__minus_01_dot_43 loc_bar__minus_1_bar__minus_2_bar_2_bar_60) + (objectAtLocation KeyChain_bar__plus_00_dot_03_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_32_bar__plus_00_dot_68_bar__minus_02_dot_51 loc_bar__minus_4_bar__minus_2_bar_2_bar_45) + (objectAtLocation Mug_bar__minus_01_dot_38_bar__plus_00_dot_67_bar__minus_02_dot_60 loc_bar__minus_4_bar__minus_2_bar_2_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__minus_00_dot_12_bar__plus_00_dot_56_bar__minus_02_dot_10 loc_bar__minus_1_bar__minus_2_bar_2_bar_60) + (objectAtLocation KeyChain_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 Pillow_bar__plus_00_dot_06_bar__plus_00_dot_65_bar__minus_01_dot_43 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_01_dot_25_bar__plus_00_dot_09_bar__minus_02_dot_40 loc_bar__minus_4_bar__minus_2_bar_2_bar_45) + (objectAtLocation CellPhone_bar__minus_01_dot_14_bar__plus_00_dot_68_bar__minus_02_dot_51 loc_bar__minus_4_bar__minus_2_bar_2_bar_45) + (objectAtLocation CreditCard_bar__plus_01_dot_04_bar__plus_00_dot_37_bar__minus_02_dot_38 loc_bar_5_bar__minus_6_bar_2_bar_60) + (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__plus_01_dot_00_bar__plus_00_dot_69_bar__minus_02_dot_33 loc_bar_8_bar__minus_8_bar_3_bar_60) + (objectAtLocation Laptop_bar__plus_00_dot_25_bar__plus_00_dot_55_bar__minus_00_dot_99 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__plus_01_dot_11_bar__plus_00_dot_68_bar__minus_02_dot_55 loc_bar_8_bar__minus_8_bar_3_bar_60) + (objectAtLocation CD_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 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_01_dot_03_bar__plus_00_dot_67_bar__minus_02_dot_51 loc_bar__minus_4_bar__minus_2_bar_2_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 CDType) + (receptacleType ?r SideTableType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-CD-None-SideTable-329/trial_T20190908_002246_523800/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CD-None-SideTable-329/trial_T20190908_002246_523800/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..85f56bd8b75bc62a4df70f850e801ef20f21be66 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CD-None-SideTable-329/trial_T20190908_002246_523800/traj_data.json @@ -0,0 +1,2673 @@ +{ + "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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}, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Laptop_de3577db", + "position": { + "x": 0.247394681, + "y": 0.554415166, + "z": -0.988663137 + }, + "rotation": { + "x": 0.0, + "y": 180.000031, + "z": 0.0 + } + }, + { + "objectName": "AlarmClock_1883a1af", + "position": { + "x": -0.121496886, + "y": 0.6218786, + "z": 0.9889032 + }, + "rotation": { + "x": 0.0, + "y": 180.00032, + "z": 0.0 + } + }, + { + "objectName": "CD_65d0c202", + "position": { + "x": -0.7414149, + "y": 0.6197202, + "z": 0.988906741 + }, + "rotation": { + "x": 0.0, + "y": 180.00032, + "z": 0.0 + } + }, + { + "objectName": "Mug_1b2382a9", + "position": { + "x": -1.3223027, + "y": 0.67760396, + "z": -2.41913438 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1902490032, + "scene_num": 329 + }, + "task_id": "trial_T20190908_002246_523800", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AD0NVUGLDYDYN_32VNZTT0AALUILUC1JC4FQOP4A24R5", + "high_descs": [ + "turn around, walk to the cabinet", + "grab the disc on the cabinet", + "turn around, walk to the night stand", + "put the disc on the night stand" + ], + "task_desc": "move the disc from the cabinet to the night stand", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A38Z99XF4NDNH0_3UN61F00HZ6CE4YCFOVEKIU346C5RQ", + "high_descs": [ + "Move across the room to the white and grey desk", + "Pick up the CD on top of the desk", + "Carry the CD to the night stand to the right of the bed", + "Place the CD on top of the night stand in front of the phone" + ], + "task_desc": "Place a CD on the night stand", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1GVTH5YS3WOK0_3Y9N9SS8L1SFZFS3J4C10WFFB9D3DB", + "high_descs": [ + "Turn around and walk towards the desk.", + "Pick up the CD at the top left corner of the desk.", + "Turn around and walk towards the bedside table.", + "Place the CD in front of the cell phone on the table." + ], + "task_desc": "Transfer the CD from the desk to 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-CD-None-SideTable-329/trial_T20190908_002257_064845/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CD-None-SideTable-329/trial_T20190908_002257_064845/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..d4fac8cdbf92c00b6c17410a2e5f264ace937432 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CD-None-SideTable-329/trial_T20190908_002257_064845/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 cd 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_002257_064845)\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_24_bar__plus_00_dot_67_bar__minus_02_dot_43 - 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_06_bar__plus_00_dot_56_bar__minus_01_dot_21 - object\n Box_bar__plus_02_dot_45_bar__plus_00_dot_22_bar__minus_00_dot_04 - object\n CD_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_01_dot_07 - object\n CellPhone_bar__plus_00_dot_06_bar__plus_00_dot_56_bar__minus_01_dot_43 - object\n CellPhone_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_83 - object\n CreditCard_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_76 - object\n CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_00_dot_83 - object\n CreditCard_bar__minus_01_dot_12_bar__plus_00_dot_08_bar__minus_02_dot_42 - object\n KeyChain_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_01_dot_07 - object\n KeyChain_bar__minus_01_dot_20_bar__plus_00_dot_08_bar__minus_02_dot_42 - object\n KeyChain_bar__minus_01_dot_33_bar__plus_00_dot_38_bar__minus_02_dot_38 - object\n Lamp_bar__plus_00_dot_92_bar__plus_00_dot_67_bar__minus_02_dot_46 - object\n Laptop_bar__minus_00_dot_48_bar__plus_00_dot_55_bar__minus_01_dot_88 - 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_68_bar__minus_02_dot_46 - object\n Mug_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_99 - object\n Painting_bar__plus_00_dot_00_bar__plus_01_dot_56_bar__minus_02_dot_69 - object\n Pencil_bar__plus_00_dot_19_bar__plus_00_dot_63_bar__plus_00_dot_83 - object\n Pencil_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_00_dot_76 - object\n Pen_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_99 - object\n Pen_bar__minus_00_dot_59_bar__plus_00_dot_63_bar__plus_00_dot_60 - object\n Pillow_bar__plus_00_dot_19_bar__plus_00_dot_61_bar__minus_02_dot_31 - object\n Pillow_bar__minus_00_dot_30_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_8_bar__minus_4_bar_0_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 Pillow_bar__plus_00_dot_19_bar__plus_00_dot_61_bar__minus_02_dot_31 PillowType)\n (objectType Pen_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_99 PenType)\n (objectType Book_bar__plus_00_dot_06_bar__plus_00_dot_56_bar__minus_01_dot_21 BookType)\n (objectType AlarmClock_bar__minus_01_dot_24_bar__plus_00_dot_67_bar__minus_02_dot_43 AlarmClockType)\n (objectType KeyChain_bar__minus_01_dot_33_bar__plus_00_dot_38_bar__minus_02_dot_38 KeyChainType)\n (objectType Mug_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_99 MugType)\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__plus_00_dot_06_bar__plus_00_dot_56_bar__minus_01_dot_43 CellPhoneType)\n (objectType KeyChain_bar__minus_01_dot_20_bar__plus_00_dot_08_bar__minus_02_dot_42 KeyChainType)\n (objectType Pencil_bar__plus_00_dot_19_bar__plus_00_dot_63_bar__plus_00_dot_83 PencilType)\n (objectType CreditCard_bar__minus_01_dot_12_bar__plus_00_dot_08_bar__minus_02_dot_42 CreditCardType)\n (objectType Blinds_bar__minus_01_dot_46_bar__plus_02_dot_16_bar__minus_01_dot_34 BlindsType)\n (objectType KeyChain_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_01_dot_07 KeyChainType)\n (objectType CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_00_dot_83 CreditCardType)\n (objectType CD_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_01_dot_07 CDType)\n (objectType Window_bar__minus_01_dot_56_bar__plus_01_dot_42_bar__minus_00_dot_06 WindowType)\n (objectType Laptop_bar__minus_00_dot_48_bar__plus_00_dot_55_bar__minus_01_dot_88 LaptopType)\n (objectType CellPhone_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_83 CellPhoneType)\n (objectType Mug_bar__plus_01_dot_17_bar__plus_00_dot_68_bar__minus_02_dot_46 MugType)\n (objectType CreditCard_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_76 CreditCardType)\n (objectType Pillow_bar__minus_00_dot_30_bar__plus_00_dot_65_bar__minus_01_dot_21 PillowType)\n (objectType Pencil_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_00_dot_76 PencilType)\n (objectType Window_bar__minus_01_dot_56_bar__plus_01_dot_42_bar__minus_01_dot_36 WindowType)\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 Pen_bar__minus_00_dot_59_bar__plus_00_dot_63_bar__plus_00_dot_60 PenType)\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 Pillow_bar__plus_00_dot_19_bar__plus_00_dot_61_bar__minus_02_dot_31)\n (pickupable Pen_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_99)\n (pickupable Book_bar__plus_00_dot_06_bar__plus_00_dot_56_bar__minus_01_dot_21)\n (pickupable AlarmClock_bar__minus_01_dot_24_bar__plus_00_dot_67_bar__minus_02_dot_43)\n (pickupable KeyChain_bar__minus_01_dot_33_bar__plus_00_dot_38_bar__minus_02_dot_38)\n (pickupable Mug_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_99)\n (pickupable CellPhone_bar__plus_00_dot_06_bar__plus_00_dot_56_bar__minus_01_dot_43)\n (pickupable KeyChain_bar__minus_01_dot_20_bar__plus_00_dot_08_bar__minus_02_dot_42)\n (pickupable Pencil_bar__plus_00_dot_19_bar__plus_00_dot_63_bar__plus_00_dot_83)\n (pickupable CreditCard_bar__minus_01_dot_12_bar__plus_00_dot_08_bar__minus_02_dot_42)\n (pickupable KeyChain_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_01_dot_07)\n (pickupable CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_00_dot_83)\n (pickupable CD_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_01_dot_07)\n (pickupable Laptop_bar__minus_00_dot_48_bar__plus_00_dot_55_bar__minus_01_dot_88)\n (pickupable CellPhone_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_83)\n (pickupable Mug_bar__plus_01_dot_17_bar__plus_00_dot_68_bar__minus_02_dot_46)\n (pickupable CreditCard_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_76)\n (pickupable Pillow_bar__minus_00_dot_30_bar__plus_00_dot_65_bar__minus_01_dot_21)\n (pickupable Pencil_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_00_dot_76)\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 Pen_bar__minus_00_dot_59_bar__plus_00_dot_63_bar__plus_00_dot_60)\n (isReceptacleObject Mug_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_99)\n (isReceptacleObject Mug_bar__plus_01_dot_17_bar__plus_00_dot_68_bar__minus_02_dot_46)\n (isReceptacleObject Box_bar__plus_02_dot_45_bar__plus_00_dot_22_bar__minus_00_dot_04)\n (openable Drawer_bar__plus_01_dot_00_bar__plus_00_dot_17_bar__minus_02_dot_39)\n (openable Drawer_bar__plus_01_dot_00_bar__plus_00_dot_46_bar__minus_02_dot_39)\n \n (atLocation agent1 loc_bar_8_bar__minus_4_bar_0_bar_30)\n \n (cleanable Mug_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_99)\n (cleanable Mug_bar__plus_01_dot_17_bar__plus_00_dot_68_bar__minus_02_dot_46)\n \n (heatable Mug_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_99)\n (heatable Mug_bar__plus_01_dot_17_bar__plus_00_dot_68_bar__minus_02_dot_46)\n (coolable Mug_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_99)\n (coolable Mug_bar__plus_01_dot_17_bar__plus_00_dot_68_bar__minus_02_dot_46)\n \n \n \n \n \n \n \n (inReceptacle Pillow_bar__plus_00_dot_19_bar__plus_00_dot_61_bar__minus_02_dot_31 Bed_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_01_dot_70)\n (inReceptacle Book_bar__plus_00_dot_06_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 Laptop_bar__minus_00_dot_48_bar__plus_00_dot_55_bar__minus_01_dot_88 Bed_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_01_dot_70)\n (inReceptacle Pillow_bar__minus_00_dot_30_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 CellPhone_bar__plus_00_dot_06_bar__plus_00_dot_56_bar__minus_01_dot_43 Bed_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_01_dot_70)\n (inReceptacle Pen_bar__plus_00_dot_03_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__plus_00_dot_19_bar__plus_00_dot_63_bar__plus_00_dot_83 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_60 DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83)\n (inReceptacle Pencil_bar__minus_00_dot_74_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 CD_bar__plus_00_dot_03_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 Mug_bar__minus_00_dot_43_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 KeyChain_bar__minus_00_dot_74_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 CellPhone_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_83 DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83)\n (inReceptacle CreditCard_bar__minus_00_dot_43_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 CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_00_dot_83 DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83)\n (inReceptacle AlarmClock_bar__minus_01_dot_24_bar__plus_00_dot_67_bar__minus_02_dot_43 SideTable_bar__minus_01_dot_20_bar__plus_00_dot_01_bar__minus_02_dot_47)\n (inReceptacle CreditCard_bar__minus_01_dot_12_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 KeyChain_bar__minus_01_dot_20_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_68_bar__minus_02_dot_46 SideTable_bar__plus_01_dot_00_bar__plus_00_dot_01_bar__minus_02_dot_47)\n (inReceptacle KeyChain_bar__minus_01_dot_33_bar__plus_00_dot_38_bar__minus_02_dot_38 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_68_bar__minus_02_dot_46 loc_bar_8_bar__minus_8_bar_3_bar_60)\n (objectAtLocation Pen_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_99 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation CreditCard_bar__minus_01_dot_12_bar__plus_00_dot_08_bar__minus_02_dot_42 loc_bar__minus_4_bar__minus_2_bar_2_bar_45)\n (objectAtLocation CellPhone_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_83 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Pencil_bar__plus_00_dot_19_bar__plus_00_dot_63_bar__plus_00_dot_83 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Pillow_bar__plus_00_dot_19_bar__plus_00_dot_61_bar__minus_02_dot_31 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_01_dot_07 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation KeyChain_bar__minus_01_dot_20_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_59_bar__plus_00_dot_62_bar__plus_00_dot_83 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_06_bar__plus_00_dot_56_bar__minus_01_dot_21 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__minus_01_dot_33_bar__plus_00_dot_38_bar__minus_02_dot_38 loc_bar__minus_4_bar__minus_2_bar_2_bar_30)\n (objectAtLocation Pillow_bar__minus_00_dot_30_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_74_bar__plus_00_dot_62_bar__plus_00_dot_76 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation CellPhone_bar__plus_00_dot_06_bar__plus_00_dot_56_bar__minus_01_dot_43 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_76 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\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_59_bar__plus_00_dot_63_bar__plus_00_dot_60 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Laptop_bar__minus_00_dot_48_bar__plus_00_dot_55_bar__minus_01_dot_88 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_01_dot_24_bar__plus_00_dot_67_bar__minus_02_dot_43 loc_bar__minus_4_bar__minus_2_bar_2_bar_45)\n (objectAtLocation CD_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_01_dot_07 loc_bar__minus_2_bar__minus_2_bar_0_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_43_bar__plus_00_dot_62_bar__plus_00_dot_99 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 CDType)\n (receptacleType ?r SideTableType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 1", "take cd 1 from diningtable 1", "go to sidetable 1", "move cd 1 to sidetable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-CD-None-SideTable-329/trial_T20190908_002257_064845/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CD-None-SideTable-329/trial_T20190908_002257_064845/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..32c829e6a64c46e1d8b2fbedbebc2926c5d528ec --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CD-None-SideTable-329/trial_T20190908_002257_064845/initial_state.pddl @@ -0,0 +1,490 @@ + +(define (problem plan_trial_T20190908_002257_064845) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_24_bar__plus_00_dot_67_bar__minus_02_dot_43 - 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_06_bar__plus_00_dot_56_bar__minus_01_dot_21 - object + Box_bar__plus_02_dot_45_bar__plus_00_dot_22_bar__minus_00_dot_04 - object + CD_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_01_dot_07 - object + CellPhone_bar__plus_00_dot_06_bar__plus_00_dot_56_bar__minus_01_dot_43 - object + CellPhone_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_83 - object + CreditCard_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_76 - object + CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_00_dot_83 - object + CreditCard_bar__minus_01_dot_12_bar__plus_00_dot_08_bar__minus_02_dot_42 - object + KeyChain_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_01_dot_07 - object + KeyChain_bar__minus_01_dot_20_bar__plus_00_dot_08_bar__minus_02_dot_42 - object + KeyChain_bar__minus_01_dot_33_bar__plus_00_dot_38_bar__minus_02_dot_38 - object + Lamp_bar__plus_00_dot_92_bar__plus_00_dot_67_bar__minus_02_dot_46 - object + Laptop_bar__minus_00_dot_48_bar__plus_00_dot_55_bar__minus_01_dot_88 - 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_68_bar__minus_02_dot_46 - object + Mug_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_99 - object + Painting_bar__plus_00_dot_00_bar__plus_01_dot_56_bar__minus_02_dot_69 - object + Pencil_bar__plus_00_dot_19_bar__plus_00_dot_63_bar__plus_00_dot_83 - object + Pencil_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_00_dot_76 - object + Pen_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_99 - object + Pen_bar__minus_00_dot_59_bar__plus_00_dot_63_bar__plus_00_dot_60 - object + Pillow_bar__plus_00_dot_19_bar__plus_00_dot_61_bar__minus_02_dot_31 - object + Pillow_bar__minus_00_dot_30_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_8_bar__minus_4_bar_0_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 Pillow_bar__plus_00_dot_19_bar__plus_00_dot_61_bar__minus_02_dot_31 PillowType) + (objectType Pen_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_99 PenType) + (objectType Book_bar__plus_00_dot_06_bar__plus_00_dot_56_bar__minus_01_dot_21 BookType) + (objectType AlarmClock_bar__minus_01_dot_24_bar__plus_00_dot_67_bar__minus_02_dot_43 AlarmClockType) + (objectType KeyChain_bar__minus_01_dot_33_bar__plus_00_dot_38_bar__minus_02_dot_38 KeyChainType) + (objectType Mug_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_99 MugType) + (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__plus_00_dot_06_bar__plus_00_dot_56_bar__minus_01_dot_43 CellPhoneType) + (objectType KeyChain_bar__minus_01_dot_20_bar__plus_00_dot_08_bar__minus_02_dot_42 KeyChainType) + (objectType Pencil_bar__plus_00_dot_19_bar__plus_00_dot_63_bar__plus_00_dot_83 PencilType) + (objectType CreditCard_bar__minus_01_dot_12_bar__plus_00_dot_08_bar__minus_02_dot_42 CreditCardType) + (objectType Blinds_bar__minus_01_dot_46_bar__plus_02_dot_16_bar__minus_01_dot_34 BlindsType) + (objectType KeyChain_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_01_dot_07 KeyChainType) + (objectType CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_00_dot_83 CreditCardType) + (objectType CD_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_01_dot_07 CDType) + (objectType Window_bar__minus_01_dot_56_bar__plus_01_dot_42_bar__minus_00_dot_06 WindowType) + (objectType Laptop_bar__minus_00_dot_48_bar__plus_00_dot_55_bar__minus_01_dot_88 LaptopType) + (objectType CellPhone_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_83 CellPhoneType) + (objectType Mug_bar__plus_01_dot_17_bar__plus_00_dot_68_bar__minus_02_dot_46 MugType) + (objectType CreditCard_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_76 CreditCardType) + (objectType Pillow_bar__minus_00_dot_30_bar__plus_00_dot_65_bar__minus_01_dot_21 PillowType) + (objectType Pencil_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_00_dot_76 PencilType) + (objectType Window_bar__minus_01_dot_56_bar__plus_01_dot_42_bar__minus_01_dot_36 WindowType) + (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 Pen_bar__minus_00_dot_59_bar__plus_00_dot_63_bar__plus_00_dot_60 PenType) + (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 Pillow_bar__plus_00_dot_19_bar__plus_00_dot_61_bar__minus_02_dot_31) + (pickupable Pen_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_99) + (pickupable Book_bar__plus_00_dot_06_bar__plus_00_dot_56_bar__minus_01_dot_21) + (pickupable AlarmClock_bar__minus_01_dot_24_bar__plus_00_dot_67_bar__minus_02_dot_43) + (pickupable KeyChain_bar__minus_01_dot_33_bar__plus_00_dot_38_bar__minus_02_dot_38) + (pickupable Mug_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_99) + (pickupable CellPhone_bar__plus_00_dot_06_bar__plus_00_dot_56_bar__minus_01_dot_43) + (pickupable KeyChain_bar__minus_01_dot_20_bar__plus_00_dot_08_bar__minus_02_dot_42) + (pickupable Pencil_bar__plus_00_dot_19_bar__plus_00_dot_63_bar__plus_00_dot_83) + (pickupable CreditCard_bar__minus_01_dot_12_bar__plus_00_dot_08_bar__minus_02_dot_42) + (pickupable KeyChain_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_01_dot_07) + (pickupable CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_00_dot_83) + (pickupable CD_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_01_dot_07) + (pickupable Laptop_bar__minus_00_dot_48_bar__plus_00_dot_55_bar__minus_01_dot_88) + (pickupable CellPhone_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_83) + (pickupable Mug_bar__plus_01_dot_17_bar__plus_00_dot_68_bar__minus_02_dot_46) + (pickupable CreditCard_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_76) + (pickupable Pillow_bar__minus_00_dot_30_bar__plus_00_dot_65_bar__minus_01_dot_21) + (pickupable Pencil_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_00_dot_76) + (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 Pen_bar__minus_00_dot_59_bar__plus_00_dot_63_bar__plus_00_dot_60) + (isReceptacleObject Mug_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_99) + (isReceptacleObject Mug_bar__plus_01_dot_17_bar__plus_00_dot_68_bar__minus_02_dot_46) + (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_8_bar__minus_4_bar_0_bar_30) + + (cleanable Mug_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_99) + (cleanable Mug_bar__plus_01_dot_17_bar__plus_00_dot_68_bar__minus_02_dot_46) + + (heatable Mug_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_99) + (heatable Mug_bar__plus_01_dot_17_bar__plus_00_dot_68_bar__minus_02_dot_46) + (coolable Mug_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_99) + (coolable Mug_bar__plus_01_dot_17_bar__plus_00_dot_68_bar__minus_02_dot_46) + + + + + + + + (inReceptacle Pillow_bar__plus_00_dot_19_bar__plus_00_dot_61_bar__minus_02_dot_31 Bed_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_01_dot_70) + (inReceptacle Book_bar__plus_00_dot_06_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__minus_00_dot_48_bar__plus_00_dot_55_bar__minus_01_dot_88 Bed_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_01_dot_70) + (inReceptacle Pillow_bar__minus_00_dot_30_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 CellPhone_bar__plus_00_dot_06_bar__plus_00_dot_56_bar__minus_01_dot_43 Bed_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_01_dot_70) + (inReceptacle Pen_bar__plus_00_dot_03_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__plus_00_dot_19_bar__plus_00_dot_63_bar__plus_00_dot_83 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_60 DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83) + (inReceptacle Pencil_bar__minus_00_dot_74_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 CD_bar__plus_00_dot_03_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 Mug_bar__minus_00_dot_43_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 KeyChain_bar__minus_00_dot_74_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 CellPhone_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_83 DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83) + (inReceptacle CreditCard_bar__minus_00_dot_43_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 CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_00_dot_83 DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83) + (inReceptacle AlarmClock_bar__minus_01_dot_24_bar__plus_00_dot_67_bar__minus_02_dot_43 SideTable_bar__minus_01_dot_20_bar__plus_00_dot_01_bar__minus_02_dot_47) + (inReceptacle CreditCard_bar__minus_01_dot_12_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 KeyChain_bar__minus_01_dot_20_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_68_bar__minus_02_dot_46 SideTable_bar__plus_01_dot_00_bar__plus_00_dot_01_bar__minus_02_dot_47) + (inReceptacle KeyChain_bar__minus_01_dot_33_bar__plus_00_dot_38_bar__minus_02_dot_38 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_68_bar__minus_02_dot_46 loc_bar_8_bar__minus_8_bar_3_bar_60) + (objectAtLocation Pen_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_99 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (objectAtLocation CreditCard_bar__minus_01_dot_12_bar__plus_00_dot_08_bar__minus_02_dot_42 loc_bar__minus_4_bar__minus_2_bar_2_bar_45) + (objectAtLocation CellPhone_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_83 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (objectAtLocation Pencil_bar__plus_00_dot_19_bar__plus_00_dot_63_bar__plus_00_dot_83 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (objectAtLocation Pillow_bar__plus_00_dot_19_bar__plus_00_dot_61_bar__minus_02_dot_31 loc_bar__minus_1_bar__minus_2_bar_2_bar_60) + (objectAtLocation KeyChain_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_01_dot_07 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (objectAtLocation KeyChain_bar__minus_01_dot_20_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_59_bar__plus_00_dot_62_bar__plus_00_dot_83 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_06_bar__plus_00_dot_56_bar__minus_01_dot_21 loc_bar__minus_1_bar__minus_2_bar_2_bar_60) + (objectAtLocation KeyChain_bar__minus_01_dot_33_bar__plus_00_dot_38_bar__minus_02_dot_38 loc_bar__minus_4_bar__minus_2_bar_2_bar_30) + (objectAtLocation Pillow_bar__minus_00_dot_30_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_74_bar__plus_00_dot_62_bar__plus_00_dot_76 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (objectAtLocation CellPhone_bar__plus_00_dot_06_bar__plus_00_dot_56_bar__minus_01_dot_43 loc_bar__minus_1_bar__minus_2_bar_2_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_76 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (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_59_bar__plus_00_dot_63_bar__plus_00_dot_60 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (objectAtLocation Laptop_bar__minus_00_dot_48_bar__plus_00_dot_55_bar__minus_01_dot_88 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_01_dot_24_bar__plus_00_dot_67_bar__minus_02_dot_43 loc_bar__minus_4_bar__minus_2_bar_2_bar_45) + (objectAtLocation CD_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_01_dot_07 loc_bar__minus_2_bar__minus_2_bar_0_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_43_bar__plus_00_dot_62_bar__plus_00_dot_99 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 CDType) + (receptacleType ?r SideTableType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-CD-None-SideTable-329/trial_T20190908_002257_064845/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CD-None-SideTable-329/trial_T20190908_002257_064845/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..fd405fafb2dba9a075f28dbb6134a6662c04e812 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CD-None-SideTable-329/trial_T20190908_002257_064845/traj_data.json @@ -0,0 +1,2589 @@ +{ + "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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0.9889024 + }, + "rotation": { + "x": 0.0, + "y": 180.00032, + "z": 0.0 + } + }, + { + "objectName": "Laptop_de3577db", + "position": { + "x": -0.483394325, + "y": 0.554415166, + "z": -1.88015819 + }, + "rotation": { + "x": 0.0, + "y": 3.756604e-05, + "z": 0.0 + } + }, + { + "objectName": "AlarmClock_1883a1af", + "position": { + "x": -1.23632824, + "y": 0.673443854, + "z": -2.42505336 + }, + "rotation": { + "x": 0.237543955, + "y": 29.99957, + "z": 0.02039998 + } + }, + { + "objectName": "CD_65d0c202", + "position": { + "x": 0.03348306, + "y": 0.618101954, + "z": 1.06685448 + }, + "rotation": { + "x": 0.0, + "y": 180.00032, + "z": 0.0 + } + }, + { + "objectName": "Mug_1b2382a9", + "position": { + "x": 1.173454, + "y": 0.67760396, + "z": -2.464004 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2594384230, + "scene_num": 329 + }, + "task_id": "trial_T20190908_002257_064845", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A38Z99XF4NDNH0_336YQZE83YVLHOLKAGZXYJ0TYLP5MI", + "high_descs": [ + "Turn left and head to the table top with the CD on top of it", + "Pick up the CD on top of the table", + "Turn around and carry the CD to the night stand to the right of the bed", + "Place the CD on top of the night stand on the front right corner" + ], + "task_desc": "Move a CD to the night stand", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1RLO9LNUJIW5S_378XPAWRUFUWRB7AKXSME19Y9QAAIH", + "high_descs": [ + "Take one step forward then turn left and walk to the right side of the dresser to your right.", + "Pick up the tv that's on the dresser.", + "Turn left and walk to the wall then turn left and walk to the nightstand.", + "Put the cd on the nightstand." + ], + "task_desc": "Put a cd on the nightstand", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3R19ZA45J8915_3M0BCWMB8YDJBGW7FSWXA32C6JRWB3", + "high_descs": [ + "Turn to your left, move forward a few steps, then turn right and walk up to the desk.", + "Pick up the CD that is on the desk.", + "Turn to your left, hanging a left once you reach the wall, then walk forward to the nightstand.", + "Place the CD down on the nightstand to the right of the alarm clock." + ], + "task_desc": "Move a CD from the desk to the nightstand.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Knife-None-SinkBasin-20/trial_T20190907_223139_822981/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Knife-None-SinkBasin-20/trial_T20190907_223139_822981/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..e33a3d5154d77fb5ac1d602ac9d82354630c488d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Knife-None-SinkBasin-20/trial_T20190907_223139_822981/initial_state.pddl @@ -0,0 +1,1034 @@ + +(define (problem plan_trial_T20190907_223139_822981) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_00_dot_84_bar__minus_02_dot_12 - object + Bowl_bar__plus_01_dot_51_bar__plus_00_dot_12_bar__minus_01_dot_27 - object + Bowl_bar__plus_01_dot_74_bar__plus_00_dot_91_bar__minus_01_dot_80 - object + Bowl_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_00_dot_99 - object + Bread_bar__plus_00_dot_40_bar__plus_00_dot_96_bar__plus_00_dot_11 - object + ButterKnife_bar__plus_00_dot_41_bar__plus_00_dot_93_bar__plus_00_dot_53 - object + ButterKnife_bar__plus_00_dot_46_bar__plus_00_dot_91_bar__minus_02_dot_00 - object + Chair_bar__minus_00_dot_54_bar__plus_00_dot_61_bar__plus_01_dot_26 - object + Cup_bar__plus_00_dot_01_bar__plus_00_dot_76_bar__minus_01_dot_94 - object + Cup_bar__minus_01_dot_55_bar__plus_00_dot_86_bar__minus_00_dot_70 - object + DishSponge_bar__plus_00_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_99 - object + DishSponge_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_00_dot_76 - object + Egg_bar__minus_01_dot_55_bar__plus_01_dot_24_bar__minus_00_dot_91 - 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_00_dot_31 - object + Fork_bar__minus_00_dot_21_bar__plus_00_dot_77_bar__minus_01_dot_98 - object + Knife_bar__plus_00_dot_12_bar__plus_00_dot_94_bar__minus_01_dot_73 - object + Knife_bar__plus_01_dot_62_bar__plus_00_dot_94_bar__minus_01_dot_92 - object + Knife_bar__minus_00_dot_05_bar__plus_00_dot_95_bar__plus_00_dot_53 - object + Ladle_bar__minus_01_dot_32_bar__plus_01_dot_70_bar__minus_01_dot_67 - object + Lettuce_bar__plus_00_dot_52_bar__plus_01_dot_01_bar__plus_00_dot_53 - object + Lettuce_bar__minus_01_dot_55_bar__plus_00_dot_94_bar__minus_00_dot_91 - object + LightSwitch_bar__plus_00_dot_11_bar__plus_01_dot_32_bar__plus_02_dot_75 - object + Mug_bar__plus_00_dot_07_bar__plus_00_dot_92_bar__plus_01_dot_45 - object + Mug_bar__plus_01_dot_36_bar__plus_00_dot_55_bar__plus_02_dot_38 - object + Mug_bar__minus_00_dot_28_bar__plus_00_dot_76_bar__minus_01_dot_94 - object + Pan_bar__plus_01_dot_85_bar__plus_00_dot_95_bar__minus_00_dot_36 - object + PepperShaker_bar__minus_00_dot_58_bar__plus_00_dot_11_bar__minus_01_dot_96 - object + PepperShaker_bar__minus_00_dot_89_bar__plus_00_dot_91_bar__minus_02_dot_26 - object + Plate_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_01_dot_22 - object + Plate_bar__plus_00_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_76 - object + Plate_bar__plus_01_dot_53_bar__plus_01_dot_66_bar__minus_02_dot_16 - object + Potato_bar__minus_00_dot_16_bar__plus_00_dot_96_bar__plus_00_dot_31 - object + Potato_bar__minus_00_dot_21_bar__plus_00_dot_79_bar__minus_02_dot_12 - object + Potato_bar__minus_00_dot_56_bar__plus_00_dot_94_bar__minus_02_dot_23 - object + Pot_bar__plus_01_dot_57_bar__plus_00_dot_95_bar__minus_00_dot_76 - object + SaltShaker_bar__plus_00_dot_18_bar__plus_00_dot_92_bar__plus_00_dot_99 - object + SaltShaker_bar__plus_01_dot_67_bar__plus_00_dot_55_bar__plus_02_dot_59 - object + SaltShaker_bar__minus_00_dot_16_bar__plus_00_dot_92_bar__plus_00_dot_53 - object + Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01 - object + SoapBottle_bar__plus_01_dot_87_bar__plus_00_dot_88_bar__plus_02_dot_51 - object + SoapBottle_bar__plus_01_dot_92_bar__plus_00_dot_09_bar__plus_00_dot_08 - object + SoapBottle_bar__plus_01_dot_92_bar__plus_00_dot_91_bar__minus_01_dot_21 - object + Spatula_bar__plus_00_dot_46_bar__plus_00_dot_93_bar__minus_01_dot_92 - object + Spatula_bar__minus_00_dot_67_bar__plus_00_dot_93_bar__minus_02_dot_17 - object + Spoon_bar__plus_00_dot_52_bar__plus_00_dot_93_bar__plus_00_dot_76 - object + Spoon_bar__plus_00_dot_52_bar__plus_00_dot_93_bar__plus_01_dot_22 - object + Spoon_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__minus_02_dot_17 - 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__minus_00_dot_36_bar__plus_00_dot_82_bar__minus_02_dot_07 - object + Tomato_bar__minus_01_dot_44_bar__plus_01_dot_24_bar__minus_00_dot_70 - object + Window_bar__plus_02_dot_11_bar__plus_01_dot_50_bar__plus_01_dot_07 - object + WineBottle_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_00_dot_08 - object + WineBottle_bar__minus_00_dot_16_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_5_bar_2_bar_60 - 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 + 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PepperShaker_bar__minus_00_dot_58_bar__plus_00_dot_11_bar__minus_01_dot_96 Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_01_dot_69) + (inReceptacle Bowl_bar__plus_01_dot_51_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 Pan_bar__plus_01_dot_85_bar__plus_00_dot_95_bar__minus_00_dot_36 StoveBurner_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_00_dot_76) + (inReceptacle Spoon_bar__plus_00_dot_52_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 Plate_bar__plus_00_dot_29_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_52_bar__plus_01_dot_01_bar__plus_00_dot_53 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle 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Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70) + (inReceptacle Egg_bar__minus_01_dot_55_bar__plus_01_dot_24_bar__minus_00_dot_91 Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70) + (inReceptacle Cup_bar__minus_01_dot_55_bar__plus_00_dot_86_bar__minus_00_dot_70 Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70) + (inReceptacle Tomato_bar__minus_00_dot_36_bar__plus_00_dot_82_bar__minus_02_dot_07 Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Apple_bar__minus_00_dot_06_bar__plus_00_dot_84_bar__minus_02_dot_12 Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Potato_bar__minus_00_dot_21_bar__plus_00_dot_79_bar__minus_02_dot_12 Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Cup_bar__plus_00_dot_01_bar__plus_00_dot_76_bar__minus_01_dot_94 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KnifeType) + (receptacleType ?r SinkBasinType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Knife-None-SinkBasin-20/trial_T20190907_223139_822981/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Knife-None-SinkBasin-20/trial_T20190907_223139_822981/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..aba11b3e9c4bf4d4af8d4cc9ac16b7cbb57ebbf6 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Knife-None-SinkBasin-20/trial_T20190907_223139_822981/traj_data.json @@ -0,0 +1,2919 @@ +{ + "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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"objectName": "Bowl_980e4fc9", + "position": { + "x": 1.73830819, + "y": 0.910105944, + "z": -1.79745913 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_11e2985b", + "position": { + "x": 1.87379873, + "y": 0.8794848, + "z": 2.51076818 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Fork_a1e5049a", + "position": { + "x": -0.210802972, + "y": 0.7650047, + "z": -1.98148525 + }, + "rotation": { + "x": -1.40334191e-14, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "Ladle_bd8f96dd", + "position": { + "x": -1.3162322, + "y": 1.70403624, + "z": -1.66749954 + }, + "rotation": { + "x": -1.40334208e-14, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_b4d69cc9", + "position": { + "x": 0.399768233, + "y": 0.9645045, + "z": 0.110999979 + }, + "rotation": { + "x": 0.002601598, + "y": 0.009953655, + "z": 1.60187387 + } + }, + { + "objectName": "Lettuce_aebda124", + "position": { + "x": 0.522321761, + "y": 1.00808942, + "z": 0.534036636 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "WineBottle_620f4eaa", + "position": { + "x": -0.0470661819, + "y": 0.9278612, + "z": 0.076635 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spatula_33e0bb4d", + "position": { + "x": -0.6686184, + "y": 0.9284998, + "z": -2.16755772 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_d1e14b30", + "position": { + "x": 0.294566572, + "y": 0.9340559, + "z": 0.7627374 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_725f4a28", + "position": { + "x": 0.180688992, + "y": 0.9232387, + "z": 0.99143815 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pot_d7116d9f", + "position": { + "x": 1.5675, + "y": 0.948799968, + "z": -0.7576 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_5f9ea4fe", + "position": { + "x": -1.55301237, + "y": 0.8596686, + "z": -0.7030002 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_6ea32579", + "position": { + "x": -0.8908344, + "y": 0.909806132, + "z": -2.26071715 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_bc4f8581", + "position": { + "x": 1.8451, + "y": 0.948799968, + "z": -0.3554 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_8db17fc4", + "position": { + "x": 0.457472026, + "y": 0.9135421, + "z": -2.002 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_de47916c", + "position": { + "x": -1.438112, + "y": 1.23548853, + "z": -0.70299983 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_c9c37476", + "position": { + "x": 0.294566572, + "y": 0.930208743, + "z": 0.99143815 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Egg_8bcb7893", + "position": { + "x": -1.55301142, + "y": 1.237238, + "z": -0.910007656 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Spoon_a85d92ad", + "position": { + "x": 0.522321761, + "y": 0.9317739, + "z": 1.220139 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_416e93ae", + "position": { + "x": 0.11930795, + "y": 0.936580539, + "z": -1.72573566 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_0e2bb95a", + "position": { + "x": 1.35913289, + "y": 0.5480586, + "z": 2.37935257 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3833150045, + "scene_num": 20 + }, + "task_id": "trial_T20190907_223139_822981", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1DMXEJGJY02E1_3E47SOBEYTDKKQ484BODKWZM9RNCI9", + "high_descs": [ + "Turn right and go to the sink.", + "Pick up the knife in front of the sink.", + "Move slightly to your right.", + "Put the knife in the sink." + ], + "task_desc": "Move the knife in front of the sink to the sink.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1ELPYAFO7MANS_3PB5A5BD0YN0CI3HN6GZJYUST3W7GB", + "high_descs": [ + "Turn right and walk ahead to the sink.", + "Pick up the knife with the yellow handle.", + "Look at the sink.", + "Place the knife in the sink to the left of the tomato." + ], + "task_desc": "Place a knife in a sink.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A38Z99XF4NDNH0_3SPJ033424KTI4PJILR2TO65PUDYJY", + "high_descs": [ + "Turn around then head straight back to the kitchen sink ", + "Pick up the knife on top of the counter in front of the sink", + "Carry the knife to face the right side of the sinl", + "Place the knife to the left of the mug blade down" + ], + "task_desc": "Move a 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_simple-Knife-None-SinkBasin-20/trial_T20190907_223211_807798/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Knife-None-SinkBasin-20/trial_T20190907_223211_807798/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..b49da2666c8f2c8fb09f8c02ac1c9a706660ef73 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Knife-None-SinkBasin-20/trial_T20190907_223211_807798/initial_state.pddl @@ -0,0 +1,1036 @@ + +(define (problem plan_trial_T20190907_223211_807798) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_92_bar__plus_00_dot_16_bar__plus_00_dot_12 - object + Apple_bar__minus_00_dot_28_bar__plus_00_dot_84_bar__minus_01_dot_94 - object + Bowl_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_01_dot_22 - object + Bowl_bar__plus_01_dot_36_bar__plus_00_dot_55_bar__plus_02_dot_53 - object + Bowl_bar__minus_00_dot_16_bar__plus_00_dot_93_bar__plus_00_dot_76 - 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_99 - object + ButterKnife_bar__plus_01_dot_65_bar__plus_00_dot_91_bar__minus_01_dot_21 - object + Chair_bar__minus_00_dot_54_bar__plus_00_dot_61_bar__plus_01_dot_26 - object + Cup_bar__minus_00_dot_14_bar__plus_00_dot_76_bar__minus_01_dot_94 - object + Cup_bar__minus_00_dot_96_bar__plus_00_dot_91_bar__minus_02_dot_15 - object + DishSponge_bar__plus_00_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_76 - object + DishSponge_bar__plus_00_dot_46_bar__plus_00_dot_91_bar__minus_01_dot_75 - object + DishSponge_bar__plus_01_dot_47_bar__plus_00_dot_91_bar__minus_01_dot_45 - object + Egg_bar__plus_00_dot_52_bar__plus_00_dot_98_bar__plus_00_dot_53 - object + Egg_bar__minus_00_dot_21_bar__plus_00_dot_82_bar__minus_02_dot_03 - object + Faucet_bar__minus_00_dot_14_bar__plus_01_dot_03_bar__minus_02_dot_22 - object + Fork_bar__plus_01_dot_74_bar__plus_00_dot_91_bar__minus_01_dot_45 - object + Fork_bar__minus_00_dot_11_bar__plus_00_dot_91_bar__minus_01_dot_74 - object + Fork_bar__minus_00_dot_72_bar__plus_00_dot_91_bar__minus_02_dot_10 - object + Knife_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_53 - object + Knife_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__plus_01_dot_45 - object + Knife_bar__minus_00_dot_05_bar__plus_00_dot_95_bar__plus_00_dot_53 - object + Ladle_bar__plus_00_dot_29_bar__plus_00_dot_97_bar__plus_01_dot_45 - object + Ladle_bar__minus_01_dot_32_bar__plus_01_dot_70_bar__minus_01_dot_79 - object + Lettuce_bar__plus_01_dot_85_bar__plus_00_dot_99_bar__minus_02_dot_17 - object + Lettuce_bar__minus_01_dot_44_bar__plus_01_dot_26_bar__minus_00_dot_81 - object + LightSwitch_bar__plus_00_dot_11_bar__plus_01_dot_32_bar__plus_02_dot_75 - object + Mug_bar__plus_01_dot_65_bar__plus_01_dot_65_bar__minus_02_dot_20 - object + Pan_bar__plus_01_dot_85_bar__plus_00_dot_95_bar__minus_00_dot_36 - object + PepperShaker_bar__plus_01_dot_57_bar__plus_00_dot_88_bar__plus_02_dot_51 - object + PepperShaker_bar__minus_00_dot_05_bar__plus_00_dot_92_bar__plus_00_dot_99 - object + Plate_bar__minus_01_dot_44_bar__plus_00_dot_86_bar__minus_00_dot_81 - object + Potato_bar__plus_00_dot_01_bar__plus_00_dot_79_bar__minus_02_dot_07 - object + Potato_bar__plus_01_dot_79_bar__plus_00_dot_12_bar__plus_00_dot_08 - object + Potato_bar__minus_00_dot_16_bar__plus_00_dot_96_bar__plus_00_dot_31 - object + Pot_bar__plus_01_dot_57_bar__plus_00_dot_95_bar__minus_00_dot_76 - object + SaltShaker_bar__plus_01_dot_88_bar__plus_01_dot_65_bar__minus_01_dot_08 - object + SaltShaker_bar__minus_00_dot_24_bar__plus_02_dot_15_bar__minus_02_dot_09 - object + Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01 - object + SoapBottle_bar__plus_01_dot_26_bar__plus_00_dot_12_bar__minus_01_dot_86 - object + SoapBottle_bar__plus_01_dot_34_bar__plus_01_dot_66_bar__minus_02_dot_12 - object + Spatula_bar__plus_00_dot_24_bar__plus_00_dot_93_bar__minus_01_dot_73 - object + Spatula_bar__plus_02_dot_01_bar__plus_00_dot_93_bar__minus_01_dot_45 - object + Spatula_bar__minus_00_dot_63_bar__plus_00_dot_90_bar__minus_02_dot_18 - object + Spoon_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_00_dot_31 - object + Spoon_bar__plus_01_dot_56_bar__plus_00_dot_91_bar__minus_01_dot_68 - 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_18_bar__plus_00_dot_98_bar__plus_00_dot_53 - object + Tomato_bar__plus_00_dot_18_bar__plus_00_dot_98_bar__plus_00_dot_99 - object + Tomato_bar__minus_00_dot_05_bar__plus_00_dot_98_bar__plus_01_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_67_bar__plus_00_dot_88_bar__plus_02_dot_51 - object + WineBottle_bar__plus_01_dot_69_bar__plus_00_dot_12_bar__minus_01_dot_27 - object + WineBottle_bar__minus_00_dot_46_bar__plus_00_dot_91_bar__minus_01_dot_73 - 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 + 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loc_bar__minus_2_bar__minus_3_bar_3_bar__minus_30 - location + loc_bar_6_bar_4_bar_1_bar_15 - location + loc_bar_4_bar__minus_2_bar_1_bar_30 - location + loc_bar_1_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_4_bar__minus_1_bar_1_bar_30 - location + loc_bar__minus_2_bar__minus_3_bar_3_bar_60 - location + loc_bar_0_bar__minus_4_bar_3_bar_60 - location + loc_bar_4_bar__minus_4_bar_1_bar__minus_30 - location + loc_bar_5_bar_5_bar_0_bar_45 - location + loc_bar_2_bar__minus_5_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_2_bar__minus_15 - location + loc_bar_4_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar__minus_1_bar__minus_5_bar_3_bar_60 - location + loc_bar_3_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15 - location + loc_bar_4_bar__minus_3_bar_1_bar_30 - location + loc_bar_4_bar__minus_1_bar_1_bar_45 - location + loc_bar_0_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_5_bar_2_bar_1_bar_30 - location + ) + + 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knife to the sink basin", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F51C49T9A34D_3DEL4X4EL92UDOU8ZP63KXEK0U7XY4", + "high_descs": [ + "go forward to the center table ", + "pick up the far knife from the table", + "turn to the right and go past clear the table and turn to the left and take a few steps and turn to the right and go to the sink", + "put the knife in the sink" + ], + "task_desc": "Place a knife in the sink", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1RLO9LNUJIW5S_3Z7ISHFUH3C43D35N3WUI56TFF18ZX", + "high_descs": [ + "Walk forward to the counter in front of you.", + "Pick up the vertical yellow handled knife.", + "Turn right and walk over to the sink and stand in front of it.", + "Put the knife in the sink." + ], + "task_desc": "Put a knife in the sink.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-TomatoSliced-None-CounterTop-25/trial_T20190908_233657_231915/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-TomatoSliced-None-CounterTop-25/trial_T20190908_233657_231915/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..f50ffc97704a702172fdd4ccad52610e9936b510 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-TomatoSliced-None-CounterTop-25/trial_T20190908_233657_231915/initial_state.pddl @@ -0,0 +1,961 @@ + +(define (problem plan_trial_T20190908_233657_231915) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype 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loc_bar__minus_7_bar_9_bar_3_bar_60 - location + loc_bar__minus_5_bar_4_bar_1_bar_45 - location + loc_bar__minus_6_bar_6_bar_2_bar_60 - location + loc_bar__minus_7_bar_4_bar_2_bar_60 - location + loc_bar__minus_4_bar_6_bar_2_bar_60 - location + loc_bar__minus_7_bar_7_bar_3_bar__minus_30 - location + loc_bar__minus_4_bar_10_bar_1_bar_60 - location + loc_bar__minus_8_bar_4_bar_3_bar__minus_15 - location + loc_bar__minus_6_bar_4_bar_3_bar_60 - location + loc_bar__minus_4_bar_6_bar_1_bar_30 - location + loc_bar__minus_4_bar_4_bar_2_bar_45 - location + loc_bar__minus_7_bar_9_bar_3_bar__minus_30 - location + loc_bar__minus_4_bar_6_bar_1_bar_60 - location + loc_bar__minus_8_bar_5_bar_3_bar_45 - location + loc_bar__minus_4_bar_4_bar_2_bar_60 - location + loc_bar__minus_4_bar_4_bar_1_bar_45 - location + loc_bar__minus_4_bar_6_bar_1_bar_45 - location + loc_bar__minus_4_bar_10_bar_1_bar_30 - location + loc_bar__minus_7_bar_11_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType 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Potato_bar__minus_00_dot_17_bar__plus_00_dot_86_bar__plus_00_dot_99) + (coolable Tomato_bar__minus_02_dot_67_bar__plus_01_dot_50_bar__plus_01_dot_96) + (coolable Apple_bar__minus_02_dot_84_bar__plus_00_dot_90_bar__plus_00_dot_13) + (coolable Pan_bar__minus_02_dot_78_bar__plus_01_dot_45_bar__plus_02_dot_40) + (coolable Lettuce_bar__minus_01_dot_84_bar__plus_00_dot_74_bar__plus_00_dot_24) + (coolable Bowl_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_02_dot_37) + (coolable Cup_bar__minus_02_dot_88_bar__plus_01_dot_44_bar__plus_00_dot_64) + (coolable Potato_bar__minus_02_dot_72_bar__plus_00_dot_86_bar__plus_00_dot_13) + (coolable Plate_bar__minus_02_dot_73_bar__plus_00_dot_83_bar__plus_02_dot_05) + (coolable Apple_bar__minus_02_dot_84_bar__plus_01_dot_22_bar__plus_02_dot_31) + (coolable Mug_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__plus_01_dot_18) + (coolable Plate_bar__minus_01_dot_89_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 Tomato_bar__minus_02_dot_84_bar__plus_01_dot_50_bar__plus_02_dot_05) + (coolable Apple_bar__minus_00_dot_30_bar__plus_00_dot_13_bar__plus_02_dot_61) + (coolable Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25) + (coolable Egg_bar__minus_02_dot_72_bar__plus_00_dot_85_bar__plus_00_dot_35) + (coolable Tomato_bar__minus_02_dot_66_bar__plus_00_dot_87_bar__plus_00_dot_95) + (coolable Pot_bar__minus_00_dot_52_bar__plus_00_dot_83_bar__plus_02_dot_08) + (coolable Egg_bar__minus_02_dot_26_bar__plus_00_dot_85_bar__plus_00_dot_43) + (coolable Potato_bar__minus_00_dot_17_bar__plus_00_dot_86_bar__plus_00_dot_99) + (coolable Bowl_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_01_dot_98) + + (isCool Tomato_bar__minus_02_dot_67_bar__plus_01_dot_50_bar__plus_01_dot_96) + (isCool Tomato_bar__minus_02_dot_84_bar__plus_01_dot_50_bar__plus_02_dot_05) + + + + (sliceable Tomato_bar__minus_02_dot_67_bar__plus_01_dot_50_bar__plus_01_dot_96) + (sliceable Apple_bar__minus_02_dot_84_bar__plus_00_dot_90_bar__plus_00_dot_13) + (sliceable Lettuce_bar__minus_01_dot_84_bar__plus_00_dot_74_bar__plus_00_dot_24) + (sliceable Potato_bar__minus_02_dot_72_bar__plus_00_dot_86_bar__plus_00_dot_13) + (sliceable Apple_bar__minus_02_dot_84_bar__plus_01_dot_22_bar__plus_02_dot_31) + (sliceable Tomato_bar__minus_02_dot_84_bar__plus_01_dot_50_bar__plus_02_dot_05) + (sliceable Apple_bar__minus_00_dot_30_bar__plus_00_dot_13_bar__plus_02_dot_61) + (sliceable Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25) + (sliceable Egg_bar__minus_02_dot_72_bar__plus_00_dot_85_bar__plus_00_dot_35) + (sliceable Tomato_bar__minus_02_dot_66_bar__plus_00_dot_87_bar__plus_00_dot_95) + (sliceable Egg_bar__minus_02_dot_26_bar__plus_00_dot_85_bar__plus_00_dot_43) + (sliceable Potato_bar__minus_00_dot_17_bar__plus_00_dot_86_bar__plus_00_dot_99) + + (inReceptacle Bowl_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_01_dot_98 Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_02_bar__plus_01_dot_72) + (inReceptacle DishSponge_bar__minus_00_dot_43_bar__plus_00_dot_70_bar__plus_01_dot_29 Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_01_dot_25) + (inReceptacle Pot_bar__minus_00_dot_52_bar__plus_00_dot_83_bar__plus_02_dot_08 StoveBurner_bar__minus_00_dot_52_bar__plus_00_dot_82_bar__plus_02_dot_08) + (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 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 PepperShaker_bar__minus_01_dot_15_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 Tomato_bar__minus_02_dot_66_bar__plus_00_dot_87_bar__plus_00_dot_95 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle SaltShaker_bar__minus_02_dot_96_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 Apple_bar__minus_02_dot_84_bar__plus_00_dot_90_bar__plus_00_dot_13 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle ButterKnife_bar__minus_02_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_48 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle SaltShaker_bar__minus_02_dot_50_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 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 Spatula_bar__minus_02_dot_49_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 Egg_bar__minus_02_dot_72_bar__plus_00_dot_85_bar__plus_00_dot_35 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Egg_bar__minus_02_dot_26_bar__plus_00_dot_85_bar__plus_00_dot_43 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 Potato_bar__minus_00_dot_17_bar__plus_00_dot_86_bar__plus_00_dot_99 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Potato_bar__minus_02_dot_72_bar__plus_00_dot_86_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_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 Fork_bar__minus_00_dot_36_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 DishSponge_bar__minus_00_dot_86_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 Spoon_bar__minus_02_dot_70_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 Spoon_bar__minus_02_dot_60_bar__plus_00_dot_69_bar__plus_01_dot_47 Drawer_bar__minus_02_dot_59_bar__plus_00_dot_70_bar__plus_01_dot_51) + (inReceptacle Ladle_bar__minus_02_dot_75_bar__plus_01_dot_48_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_79_bar__plus_01_dot_43_bar__plus_00_dot_41 Cabinet_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__plus_00_dot_51) + (inReceptacle SoapBottle_bar__minus_02_dot_88_bar__plus_01_dot_43_bar__plus_01_dot_37 Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_83) + (inReceptacle Cup_bar__minus_02_dot_88_bar__plus_01_dot_44_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_54_bar__plus_01_dot_85_bar__plus_02_dot_37 Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_58) + (inReceptacle DishSponge_bar__minus_02_dot_69_bar__plus_00_dot_12_bar__plus_01_dot_51 Cabinet_bar__minus_02_dot_44_bar__plus_00_dot_39_bar__plus_01_dot_67) + (inReceptacle SoapBottle_bar__minus_02_dot_57_bar__plus_00_dot_12_bar__plus_01_dot_51 Cabinet_bar__minus_02_dot_44_bar__plus_00_dot_39_bar__plus_01_dot_67) + (inReceptacle PepperShaker_bar__minus_02_dot_00_bar__plus_00_dot_12_bar__plus_00_dot_52 Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_39_bar__plus_00_dot_56) + (inReceptacle Plate_bar__minus_01_dot_89_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 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 Apple_bar__minus_02_dot_84_bar__plus_01_dot_22_bar__plus_02_dot_31 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Tomato_bar__minus_02_dot_84_bar__plus_01_dot_50_bar__plus_02_dot_05 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Pan_bar__minus_02_dot_78_bar__plus_01_dot_45_bar__plus_02_dot_40 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Plate_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 Mug_bar__minus_02_dot_78_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_00_dot_30_bar__plus_00_dot_13_bar__plus_02_dot_61 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 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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_54_bar__plus_01_dot_85_bar__plus_01_dot_98 loc_bar__minus_7_bar_7_bar_3_bar__minus_30) + (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 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+ "objectName": "Plate_29dab58d", + "position": { + "x": -1.8856113, + "y": 0.130002677, + "z": 0.362672359 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_2ee69558", + "position": { + "x": -2.837207, + "y": 1.49514139, + "z": 2.04581 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Tomato_2ee69558", + "position": { + "x": -2.65868163, + "y": 0.873123646, + "z": 0.953160763 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_3a4a4d0d", + "position": { + "x": -2.569851, + "y": 0.11931026, + "z": 1.51088572 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_4c742e05", + "position": { + "x": -2.54089117, + "y": 1.845667, + "z": 2.36875629 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_69e12ad1", + "position": { + "x": -2.504354, + "y": 0.8185999, + "z": 0.544074237 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_69e12ad1", + "position": { + "x": -2.957396, + "y": 0.818599939, + "z": 0.1297577 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_407d7c3b", + "position": { + "x": -1.15182948, + "y": 0.8185999, + "z": 0.129757524 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_407d7c3b", + "position": { + "x": -2.25881338, + "y": 0.818599939, + "z": 0.0556365252 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_57da2f86", + "position": { + "x": -2.77757359, + "y": 0.916441262, + "z": 1.178651 + }, + "rotation": { + "x": 0.0, + "y": 89.99987, + "z": 0.0 + } + }, + { + "objectName": "Apple_0dd786e0", + "position": { + "x": -2.83720779, + "y": 1.21668339, + "z": 2.309645 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Apple_0dd786e0", + "position": { + "x": -2.84096551, + "y": 0.8965656, + "z": 0.1297577 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_0dd786e0", + "position": { + "x": -0.2959527, + "y": 0.129467249, + "z": 2.60685635 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Fork_2c8fe53a", + "position": { + "x": -0.3634738, + "y": 0.697826743, + "z": 0.875981 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Ladle_3943cbe8", + "position": { + "x": -2.75200438, + "y": 1.47939765, + "z": 0.260721445 + }, + "rotation": { + "x": 0.0, + "y": 44.9999962, + "z": 0.0 + } + }, + { + "objectName": "Pan_e0764688", + "position": { + "x": -2.78200054, + "y": 1.44522715, + "z": 2.39759 + }, + "rotation": { + "x": 0.0, + "y": -0.00016420889, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_3a4a4d0d", + "position": { + "x": -2.88253069, + "y": 1.43226612, + "z": 1.37260413 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pot_ccf3345d", + "position": { + "x": -0.5182, + "y": 0.8297, + "z": 2.0755 + }, + "rotation": { + "x": 0.0, + "y": 180.000336, + "z": 0.0 + } + }, + { + "objectName": "Tomato_2ee69558", + "position": { + "x": -2.67158437, + "y": 1.49514139, + "z": 1.95786524 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Potato_a3c14b3a", + "position": { + "x": -0.169301391, + "y": 0.8623831, + "z": 0.9925278 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_69e12ad1", + "position": { + "x": -2.7947526, + "y": 1.43003523, + "z": 0.413364679 + }, + "rotation": { + "x": 0.0, + "y": 44.9999962, + "z": 0.0 + } + }, + { + "objectName": "Plate_29dab58d", + "position": { + "x": -2.72679257, + "y": 0.8295449, + "z": 2.045809 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Spatula_77ce7117", + "position": { + "x": -2.49167442, + "y": 0.838599861, + "z": 0.500363469 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_298dd93a", + "position": { + "x": -2.375244, + "y": 0.8492183, + "z": 0.20387885 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Egg_68224885", + "position": { + "x": -2.724535, + "y": 0.8478783, + "z": 0.352121145 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_61785f6c", + "position": { + "x": -2.88190246, + "y": 1.43610919, + "z": 0.640114844 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "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": -2.00053287, + "y": 0.12030822, + "z": 0.5187672 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_eb848da8", + "position": { + "x": -0.8604518, + "y": 0.709751666, + "z": 0.445048451 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_db4f73f8", + "position": { + "x": -0.979999542, + "y": 0.8554756, + "z": 0.249999985 + }, + "rotation": { + "x": 1.80723919e-06, + "y": 29.9999123, + "z": 3.46336333e-06 + } + }, + { + "objectName": "Spoon_df0734fa", + "position": { + "x": -2.59749985, + "y": 0.693495333, + "z": 1.47479427 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_57da2f86", + "position": { + "x": -0.646999955, + "y": 0.8882107, + "z": 0.3674 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_4c742e05", + "position": { + "x": -2.54089117, + "y": 1.8456651, + "z": 1.97887111 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2378314006, + "scene_num": 25 + }, + "task_id": "trial_T20190908_233657_231915", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A38Z99XF4NDNH0_3HUTX6F6VXEP3J971L1TT26O3W92OS", + "high_descs": [ + "Move right then left and straight back to the counter top by the sink", + "Pick up the knife on top of the counter to the right of the sink", + "Carry the knife to the counter top left of the microwave where the tomato is", + "Cut the tomato on the counter" + ], + "task_desc": "Cut a tomato on the counter", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3YZ8UPK3VWDXE6L6U0284L7ZX80CUC", + "high_descs": [ + "Turn around and cross the room to stand in front of the sink.", + "Pick the large knife up from the counter to the right of the sink.", + "Turn to the right and face the counter to the left of the microwave.", + "Slice the tomato on the counter to the left of the microwave." + ], + "task_desc": "Slice a tomato on the counter.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A320QA9HJFUOZO_3IO1LGZLKCOA0S5SH6O0MTX04W786C", + "high_descs": [ + "Turn right and walk up to the kitchen sink", + "Pick up the knife just right of the kitchen sink", + "Turn right and face the counter by the microwave", + "Use the knife to cut the tomato on the counter" + ], + "task_desc": "Slice the tomato with the knife", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-TomatoSliced-None-CounterTop-25/trial_T20190908_233907_188674/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-TomatoSliced-None-CounterTop-25/trial_T20190908_233907_188674/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..3e65eaffd974f88df71d6b6538e7b0e797a0d937 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-TomatoSliced-None-CounterTop-25/trial_T20190908_233907_188674/initial_state.pddl @@ -0,0 +1,966 @@ + +(define (problem plan_trial_T20190908_233907_188674) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_40_bar__plus_00_dot_13_bar__plus_02_dot_61 - object + Apple_bar__minus_02_dot_73_bar__plus_01_dot_22_bar__plus_01_dot_96 - object + Apple_bar__minus_02_dot_78_bar__plus_00_dot_90_bar__plus_02_dot_49 - object + Bowl_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_01_dot_98 - object + Bowl_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_02_dot_32 - 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 + 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Faucet_bar__minus_01_dot_69_bar__plus_00_dot_95_bar__plus_00_dot_18 - object + Fork_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_00_dot_95 - object + Fork_bar__minus_00_dot_40_bar__plus_00_dot_82_bar__plus_00_dot_66 - object + Fork_bar__minus_02_dot_02_bar__plus_00_dot_70_bar__plus_00_dot_30 - object + Knife_bar__minus_01_dot_54_bar__plus_00_dot_85_bar__plus_00_dot_54 - object + Knife_bar__minus_02_dot_58_bar__plus_00_dot_85_bar__plus_00_dot_63 - object + Ladle_bar__minus_00_dot_37_bar__plus_00_dot_74_bar__plus_00_dot_88 - object + Ladle_bar__minus_02_dot_06_bar__plus_00_dot_17_bar__plus_00_dot_40 - 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_02_dot_84_bar__plus_00_dot_82_bar__plus_02_dot_31 - object + Mug_bar__minus_02_dot_89_bar__plus_01_dot_44_bar__plus_01_dot_96 - object + 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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 DishSponge_bar__minus_01_dot_15_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 SaltShaker_bar__minus_02_dot_84_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 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 Cup_bar__minus_00_dot_31_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 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 SaltShaker_bar__minus_02_dot_84_bar__plus_00_dot_82_bar__plus_00_dot_28 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Knife_bar__minus_02_dot_58_bar__plus_00_dot_85_bar__plus_00_dot_63 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle 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 Tomato_bar__minus_02_dot_66_bar__plus_00_dot_87_bar__plus_00_dot_54 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Egg_bar__minus_00_dot_32_bar__plus_00_dot_85_bar__plus_01_dot_33 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle ButterKnife_bar__minus_01_dot_88_bar__plus_00_dot_82_bar__plus_00_dot_52 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Fork_bar__minus_00_dot_40_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 SoapBottle_bar__minus_01_dot_15_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 SaltShaker_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 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 SoapBottle_bar__minus_00_dot_17_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 Fork_bar__minus_00_dot_33_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 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_22_bar__plus_00_dot_70_bar__plus_00_dot_41 Drawer_bar__minus_01_dot_13_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 DishSponge_bar__minus_02_dot_88_bar__plus_01_dot_44_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_54_bar__plus_01_dot_85_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 Ladle_bar__minus_02_dot_06_bar__plus_00_dot_17_bar__plus_00_dot_40 Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_39_bar__plus_00_dot_56) + (inReceptacle DishSponge_bar__minus_01_dot_52_bar__plus_00_dot_12_bar__plus_00_dot_36 Cabinet_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_56) + (inReceptacle Apple_bar__minus_02_dot_73_bar__plus_01_dot_22_bar__plus_01_dot_96 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Mug_bar__minus_02_dot_84_bar__plus_00_dot_82_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_78_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 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 Mug_bar__minus_02_dot_89_bar__plus_01_dot_44_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_81_bar__plus_00_dot_96_bar__plus_01_dot_18 Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35) + (inReceptacle Cup_bar__minus_02_dot_78_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 Egg_bar__minus_00_dot_23_bar__plus_00_dot_08_bar__plus_02_dot_61 GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_61) + (inReceptacle Apple_bar__minus_00_dot_40_bar__plus_00_dot_13_bar__plus_02_dot_61 GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_61) + (inReceptacle Fork_bar__minus_02_dot_02_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 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 Egg_bar__minus_01_dot_52_bar__plus_00_dot_72_bar__plus_00_dot_38 Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34_bar_SinkBasin) + + + (receptacleAtLocation Cabinet_bar__minus_00_dot_55_bar__plus_00_dot_39_bar__plus_00_dot_75 loc_bar__minus_4_bar_4_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_55_bar__plus_00_dot_39_bar__plus_01_dot_41 loc_bar__minus_4_bar_6_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_57 loc_bar__minus_4_bar_4_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_26_bar__plus_00_dot_39_bar__plus_00_dot_57 loc_bar__minus_5_bar_4_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_56 loc_bar__minus_4_bar_6_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_39_bar__plus_00_dot_56 loc_bar__minus_6_bar_6_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_58 loc_bar__minus_7_bar_9_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_02_bar__plus_01_dot_72 loc_bar__minus_7_bar_7_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_02_dot_44_bar__plus_00_dot_39_bar__plus_01_dot_67 loc_bar__minus_6_bar_4_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_46_bar__plus_01_dot_80_bar__plus_00_dot_23 loc_bar__minus_8_bar_4_bar_2_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__plus_00_dot_51 loc_bar__minus_6_bar_4_bar_3_bar_0) + (receptacleAtLocation Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_82 loc_bar__minus_8_bar_4_bar_3_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_83 loc_bar__minus_8_bar_5_bar_3_bar__minus_15) + (receptacleAtLocation CoffeeMachine_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_19 loc_bar__minus_4_bar_4_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28 loc_bar__minus_4_bar_4_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_00_dot_91 loc_bar__minus_5_bar_5_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_01_dot_25 loc_bar__minus_5_bar_4_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_71_bar__plus_00_dot_42 loc_bar__minus_5_bar_5_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_13_bar__plus_00_dot_71_bar__plus_00_dot_42 loc_bar__minus_6_bar_5_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_59_bar__plus_00_dot_70_bar__plus_01_dot_51 loc_bar__minus_7_bar_7_bar_3_bar_45) + (receptacleAtLocation Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22 loc_bar__minus_7_bar_9_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_61 loc_bar__minus_4_bar_10_bar_1_bar_60) + (receptacleAtLocation Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35 loc_bar__minus_8_bar_5_bar_3_bar_45) + (receptacleAtLocation Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34_bar_SinkBasin loc_bar__minus_6_bar_5_bar_2_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_01_dot_68 loc_bar__minus_4_bar_6_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_02_dot_08 loc_bar__minus_4_bar_10_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_52_bar__plus_00_dot_82_bar__plus_01_dot_68 loc_bar__minus_4_bar_6_bar_1_bar_60) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_52_bar__plus_00_dot_82_bar__plus_02_dot_08 loc_bar__minus_4_bar_10_bar_1_bar_60) + (receptacleAtLocation Toaster_bar__minus_00_dot_17_bar__plus_00_dot_81_bar__plus_00_dot_74 loc_bar__minus_4_bar_4_bar_1_bar_45) + (objectAtLocation Bowl_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_01_dot_98 loc_bar__minus_7_bar_7_bar_3_bar__minus_30) + (objectAtLocation Mug_bar__minus_02_dot_89_bar__plus_01_dot_44_bar__plus_01_dot_96 loc_bar__minus_7_bar_9_bar_3_bar_60) + (objectAtLocation Spoon_bar__minus_02_dot_53_bar__plus_00_dot_69_bar__plus_01_dot_47 loc_bar__minus_7_bar_7_bar_3_bar_45) + (objectAtLocation DishSponge_bar__minus_02_dot_88_bar__plus_01_dot_44_bar__plus_00_dot_64 loc_bar__minus_8_bar_4_bar_3_bar__minus_15) + (objectAtLocation ButterKnife_bar__minus_01_dot_88_bar__plus_00_dot_82_bar__plus_00_dot_52 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Cup_bar__minus_02_dot_73_bar__plus_00_dot_83_bar__plus_02_dot_05 loc_bar__minus_7_bar_9_bar_3_bar_60) + (objectAtLocation Egg_bar__minus_00_dot_32_bar__plus_00_dot_85_bar__plus_01_dot_33 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Knife_bar__minus_01_dot_54_bar__plus_00_dot_85_bar__plus_00_dot_54 loc_bar__minus_6_bar_4_bar_2_bar_60) + (objectAtLocation SaltShaker_bar__minus_02_dot_84_bar__plus_00_dot_82_bar__plus_00_dot_43 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation SoapBottle_bar__minus_01_dot_15_bar__plus_00_dot_82_bar__plus_00_dot_35 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Ladle_bar__minus_00_dot_37_bar__plus_00_dot_74_bar__plus_00_dot_88 loc_bar__minus_5_bar_5_bar_1_bar_45) + (objectAtLocation Fork_bar__minus_02_dot_02_bar__plus_00_dot_70_bar__plus_00_dot_30 loc_bar__minus_6_bar_5_bar_2_bar_45) + (objectAtLocation Apple_bar__minus_02_dot_78_bar__plus_00_dot_90_bar__plus_02_dot_49 loc_bar__minus_7_bar_9_bar_3_bar_60) + (objectAtLocation Apple_bar__minus_02_dot_73_bar__plus_01_dot_22_bar__plus_01_dot_96 loc_bar__minus_7_bar_9_bar_3_bar_60) + (objectAtLocation SaltShaker_bar__minus_02_dot_84_bar__plus_00_dot_82_bar__plus_00_dot_28 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Bowl_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_02_dot_32 loc_bar__minus_7_bar_9_bar_3_bar__minus_30) + (objectAtLocation Cup_bar__minus_00_dot_31_bar__plus_00_dot_82_bar__plus_00_dot_50 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Egg_bar__minus_01_dot_52_bar__plus_00_dot_72_bar__plus_00_dot_38 loc_bar__minus_6_bar_5_bar_2_bar_45) + (objectAtLocation Fork_bar__minus_00_dot_40_bar__plus_00_dot_82_bar__plus_00_dot_66 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation DishSponge_bar__minus_01_dot_52_bar__plus_00_dot_12_bar__plus_00_dot_36 loc_bar__minus_4_bar_6_bar_2_bar_60) + (objectAtLocation 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"z": 2.09645438 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_2ee69558", + "position": { + "x": -2.65868163, + "y": 0.873123646, + "z": 0.544074237 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_a3c14b3a", + "position": { + "x": -2.81078935, + "y": 0.9602245, + "z": 1.17865086 + }, + "rotation": { + "x": 0.0, + "y": 89.99987, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_69e12ad1", + "position": { + "x": -2.84096551, + "y": 0.818599939, + "z": 0.4262423 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_29dab58d", + "position": { + "x": -2.58694386, + "y": 0.81342864, + "z": 0.309928268 + }, + "rotation": { + "x": -0.001085784, + "y": -0.0002611964, + "z": 0.0003187232 + } + }, + { + "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": -1.542167, + "y": 0.8492183, + "z": 0.5390176 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Egg_68224885", + "position": { + "x": -0.323628545, + "y": 0.8478782, + "z": 1.32607329 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "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": -1.87690437, + "y": 0.823642, + "z": 0.51863426 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_b2f1312c", + "position": { + "x": -1.8365, + "y": 0.7415, + "z": 0.238453716 + }, + "rotation": { + "x": 0.0, + "y": 55.91092, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_407d7c3b", + "position": { + "x": -2.375244, + "y": 0.818599939, + "z": 0.1297577 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_eb848da8", + "position": { + "x": -2.88190246, + "y": 1.43533528, + "z": 0.640114844 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_db4f73f8", + "position": { + "x": -0.97999984, + "y": 0.855475247, + "z": 0.249999911 + }, + "rotation": { + "x": -1.49333773e-05, + "y": 29.9999466, + "z": -9.969637e-06 + } + }, + { + "objectName": "Spoon_df0734fa", + "position": { + "x": -2.53046846, + "y": 0.693495333, + "z": 1.47479427 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_57da2f86", + "position": { + "x": -2.89241433, + "y": 1.44061768, + "z": 1.95786464 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Bowl_4c742e05", + "position": { + "x": -2.54089117, + "y": 1.8456651, + "z": 1.97887111 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3972439606, + "scene_num": 25 + }, + "task_id": "trial_T20190908_233907_188674", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3R19ZA45J8915_30BXRYBRP7O1NILRBSVAX0PCVGIHWR", + "high_descs": [ + "Turn left and move over to the kitchen counter space to the left of the microwave. ", + "Pick up the butter knife that is on the counter, to the left of the microwave. ", + "Cut the top of the tomato off that is sitting on the counter and lay the yellow handled knife on its side." + ], + "task_desc": "Slice off the top of a tomato while holding a butter knife. ", + "votes": [ + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3U0SRXB7CGWOPIQGFWGHFLERPD8NRZ", + "high_descs": [ + "Move to the left and face the counter to the left of the microwave.", + "Pick the knife up from the counter.", + "Slice the tomato on the counter" + ], + "task_desc": "Use a knife to slice a tomato.", + "votes": [ + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1ELPYAFO7MANS_3UN61F00HZGKZTKABWKVL4E5Y10R5N", + "high_descs": [ + "Take a step left.", + "Pick up the butter knife near the microwave.", + "Cut the tomato in half with the knife." + ], + "task_desc": "Cut a tomato in half.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-TomatoSliced-None-CounterTop-25/trial_T20190908_233941_496641/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-TomatoSliced-None-CounterTop-25/trial_T20190908_233941_496641/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..3c546ced6337e86f570423632352dd58bec1803d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-TomatoSliced-None-CounterTop-25/trial_T20190908_233941_496641/initial_state.pddl @@ -0,0 +1,951 @@ + +(define (problem plan_trial_T20190908_233941_496641) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_38_bar__plus_00_dot_90_bar__plus_00_dot_20 - object + Apple_bar__minus_02_dot_81_bar__plus_00_dot_99_bar__plus_01_dot_39 - object + Bowl_bar__minus_02_dot_73_bar__plus_01_dot_44_bar__plus_02_dot_05 - object + Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25 - object + ButterKnife_bar__minus_02_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_48 - object + Chair_bar__minus_00_dot_91_bar__plus_00_dot_01_bar__plus_02_dot_12 - object + Cup_bar__minus_02_dot_72_bar__plus_00_dot_82_bar__plus_00_dot_43 - object + DishSponge_bar__minus_00_dot_36_bar__plus_00_dot_70_bar__plus_00_dot_84 - object + DishSponge_bar__minus_00_dot_39_bar__plus_00_dot_70_bar__plus_01_dot_18 - object + DishSponge_bar__minus_00_dot_86_bar__plus_00_dot_71_bar__plus_00_dot_41 - object + Egg_bar__minus_01_dot_41_bar__plus_00_dot_72_bar__plus_00_dot_25 - object + Egg_bar__minus_02_dot_62_bar__plus_01_dot_47_bar__plus_02_dot_49 - object + Egg_bar__minus_02_dot_84_bar__plus_00_dot_95_bar__plus_01_dot_13 - object + Faucet_bar__minus_01_dot_69_bar__plus_00_dot_95_bar__plus_00_dot_18 - object + Fork_bar__minus_01_dot_37_bar__plus_00_dot_82_bar__plus_00_dot_53 - object + Fork_bar__minus_02_dot_56_bar__plus_00_dot_69_bar__plus_01_dot_55 - object + Knife_bar__minus_01_dot_15_bar__plus_00_dot_85_bar__plus_00_dot_20 - object + Knife_bar__minus_02_dot_04_bar__plus_00_dot_85_bar__plus_00_dot_52 - object + Ladle_bar__minus_01_dot_94_bar__plus_00_dot_17_bar__plus_00_dot_40 - object + Ladle_bar__minus_02_dot_61_bar__plus_00_dot_17_bar__plus_01_dot_59 - object + Lettuce_bar__minus_02_dot_84_bar__plus_00_dot_91_bar__plus_00_dot_13 - object + Lettuce_bar__minus_02_dot_84_bar__plus_01_dot_23_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_02_dot_73_bar__plus_00_dot_82_bar__plus_02_dot_05 - 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_06 - object + PepperShaker_bar__minus_02_dot_63_bar__plus_01_dot_43_bar__plus_00_dot_25 - object + PepperShaker_bar__minus_02_dot_86_bar__plus_01_dot_43_bar__plus_01_dot_05 - object + Plate_bar__minus_02_dot_12_bar__plus_00_dot_13_bar__plus_00_dot_40 - object + Plate_bar__minus_02_dot_78_bar__plus_00_dot_83_bar__plus_02_dot_22 - object + Potato_bar__minus_02_dot_89_bar__plus_00_dot_86_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_66_bar__plus_00_dot_82_bar__plus_00_dot_63 - object + Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34 - object + SoapBottle_bar__minus_01_dot_35_bar__plus_00_dot_12_bar__plus_00_dot_40 - object + SoapBottle_bar__minus_02_dot_84_bar__plus_01_dot_43_bar__plus_00_dot_24 - object + Spatula_bar__minus_01_dot_71_bar__plus_00_dot_84_bar__plus_00_dot_53 - object + Spatula_bar__minus_02_dot_81_bar__plus_00_dot_84_bar__plus_00_dot_95 - object + Spoon_bar__minus_02_dot_66_bar__plus_00_dot_69_bar__plus_01_dot_47 - object + Spoon_bar__minus_02_dot_66_bar__plus_00_dot_82_bar__plus_00_dot_54 - object + Spoon_bar__minus_02_dot_72_bar__plus_00_dot_82_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 + Tomato_bar__minus_02_dot_49_bar__plus_00_dot_87_bar__plus_00_dot_50 - 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_8_bar_4_bar_2_bar_60 - 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_5_bar_11_bar_1_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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(pickupable SaltShaker_bar__minus_02_dot_66_bar__plus_00_dot_82_bar__plus_00_dot_63) + (pickupable Cup_bar__minus_02_dot_72_bar__plus_00_dot_82_bar__plus_00_dot_43) + (pickupable Plate_bar__minus_02_dot_78_bar__plus_00_dot_83_bar__plus_02_dot_22) + (pickupable Fork_bar__minus_01_dot_37_bar__plus_00_dot_82_bar__plus_00_dot_53) + (isReceptacleObject Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08) + (isReceptacleObject Mug_bar__minus_02_dot_73_bar__plus_00_dot_82_bar__plus_02_dot_05) + (isReceptacleObject Bowl_bar__minus_02_dot_73_bar__plus_01_dot_44_bar__plus_02_dot_05) + (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 Plate_bar__minus_02_dot_12_bar__plus_00_dot_13_bar__plus_00_dot_40) + (isReceptacleObject Cup_bar__minus_02_dot_72_bar__plus_00_dot_82_bar__plus_00_dot_43) + (isReceptacleObject Plate_bar__minus_02_dot_78_bar__plus_00_dot_83_bar__plus_02_dot_22) + (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_5_bar_11_bar_1_bar_30) + + (cleanable Spatula_bar__minus_02_dot_81_bar__plus_00_dot_84_bar__plus_00_dot_95) + (cleanable Egg_bar__minus_02_dot_84_bar__plus_00_dot_95_bar__plus_01_dot_13) + (cleanable Spoon_bar__minus_02_dot_66_bar__plus_00_dot_69_bar__plus_01_dot_47) + (cleanable Apple_bar__minus_02_dot_81_bar__plus_00_dot_99_bar__plus_01_dot_39) + (cleanable Egg_bar__minus_02_dot_62_bar__plus_01_dot_47_bar__plus_02_dot_49) + (cleanable Apple_bar__minus_00_dot_36_bar__plus_00_dot_13_bar__plus_02_dot_54) + (cleanable Knife_bar__minus_02_dot_04_bar__plus_00_dot_85_bar__plus_00_dot_52) + (cleanable Egg_bar__minus_01_dot_41_bar__plus_00_dot_72_bar__plus_00_dot_25) + (cleanable Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08) + (cleanable Knife_bar__minus_01_dot_15_bar__plus_00_dot_85_bar__plus_00_dot_20) + (cleanable Mug_bar__minus_02_dot_73_bar__plus_00_dot_82_bar__plus_02_dot_05) + (cleanable DishSponge_bar__minus_00_dot_39_bar__plus_00_dot_70_bar__plus_01_dot_18) + (cleanable DishSponge_bar__minus_00_dot_86_bar__plus_00_dot_71_bar__plus_00_dot_41) + (cleanable Apple_bar__minus_02_dot_38_bar__plus_00_dot_90_bar__plus_00_dot_20) + (cleanable Ladle_bar__minus_02_dot_61_bar__plus_00_dot_17_bar__plus_01_dot_59) + (cleanable DishSponge_bar__minus_00_dot_36_bar__plus_00_dot_70_bar__plus_00_dot_84) + (cleanable Lettuce_bar__minus_02_dot_84_bar__plus_01_dot_23_bar__plus_02_dot_13) + (cleanable Bowl_bar__minus_02_dot_73_bar__plus_01_dot_44_bar__plus_02_dot_05) + (cleanable Potato_bar__minus_02_dot_89_bar__plus_00_dot_86_bar__plus_02_dot_05) + (cleanable Tomato_bar__minus_02_dot_49_bar__plus_00_dot_87_bar__plus_00_dot_50) + (cleanable ButterKnife_bar__minus_02_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_48) + (cleanable Spatula_bar__minus_01_dot_71_bar__plus_00_dot_84_bar__plus_00_dot_53) + (cleanable Ladle_bar__minus_01_dot_94_bar__plus_00_dot_17_bar__plus_00_dot_40) + (cleanable Fork_bar__minus_02_dot_56_bar__plus_00_dot_69_bar__plus_01_dot_55) + (cleanable Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_01_dot_68) + (cleanable Spoon_bar__minus_02_dot_66_bar__plus_00_dot_82_bar__plus_00_dot_54) + (cleanable Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10) + (cleanable Plate_bar__minus_02_dot_12_bar__plus_00_dot_13_bar__plus_00_dot_40) + (cleanable Lettuce_bar__minus_02_dot_84_bar__plus_00_dot_91_bar__plus_00_dot_13) + (cleanable Spoon_bar__minus_02_dot_72_bar__plus_00_dot_82_bar__plus_00_dot_28) + (cleanable Cup_bar__minus_02_dot_72_bar__plus_00_dot_82_bar__plus_00_dot_43) + (cleanable Plate_bar__minus_02_dot_78_bar__plus_00_dot_83_bar__plus_02_dot_22) + (cleanable Fork_bar__minus_01_dot_37_bar__plus_00_dot_82_bar__plus_00_dot_53) + + (heatable Egg_bar__minus_02_dot_84_bar__plus_00_dot_95_bar__plus_01_dot_13) + (heatable Apple_bar__minus_02_dot_81_bar__plus_00_dot_99_bar__plus_01_dot_39) + (heatable Egg_bar__minus_02_dot_62_bar__plus_01_dot_47_bar__plus_02_dot_49) + (heatable Apple_bar__minus_00_dot_36_bar__plus_00_dot_13_bar__plus_02_dot_54) + (heatable Egg_bar__minus_01_dot_41_bar__plus_00_dot_72_bar__plus_00_dot_25) + (heatable Mug_bar__minus_02_dot_73_bar__plus_00_dot_82_bar__plus_02_dot_05) + (heatable Apple_bar__minus_02_dot_38_bar__plus_00_dot_90_bar__plus_00_dot_20) + (heatable Potato_bar__minus_02_dot_89_bar__plus_00_dot_86_bar__plus_02_dot_05) + (heatable Tomato_bar__minus_02_dot_49_bar__plus_00_dot_87_bar__plus_00_dot_50) + (heatable Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25) + (heatable Plate_bar__minus_02_dot_12_bar__plus_00_dot_13_bar__plus_00_dot_40) + (heatable Cup_bar__minus_02_dot_72_bar__plus_00_dot_82_bar__plus_00_dot_43) + (heatable Plate_bar__minus_02_dot_78_bar__plus_00_dot_83_bar__plus_02_dot_22) + (coolable Egg_bar__minus_02_dot_84_bar__plus_00_dot_95_bar__plus_01_dot_13) + (coolable Apple_bar__minus_02_dot_81_bar__plus_00_dot_99_bar__plus_01_dot_39) + (coolable Egg_bar__minus_02_dot_62_bar__plus_01_dot_47_bar__plus_02_dot_49) + (coolable Apple_bar__minus_00_dot_36_bar__plus_00_dot_13_bar__plus_02_dot_54) + (coolable Egg_bar__minus_01_dot_41_bar__plus_00_dot_72_bar__plus_00_dot_25) + (coolable Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08) + (coolable Mug_bar__minus_02_dot_73_bar__plus_00_dot_82_bar__plus_02_dot_05) + (coolable Apple_bar__minus_02_dot_38_bar__plus_00_dot_90_bar__plus_00_dot_20) + (coolable Lettuce_bar__minus_02_dot_84_bar__plus_01_dot_23_bar__plus_02_dot_13) + (coolable Bowl_bar__minus_02_dot_73_bar__plus_01_dot_44_bar__plus_02_dot_05) + (coolable Potato_bar__minus_02_dot_89_bar__plus_00_dot_86_bar__plus_02_dot_05) + (coolable Tomato_bar__minus_02_dot_49_bar__plus_00_dot_87_bar__plus_00_dot_50) + (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 Plate_bar__minus_02_dot_12_bar__plus_00_dot_13_bar__plus_00_dot_40) + (coolable Lettuce_bar__minus_02_dot_84_bar__plus_00_dot_91_bar__plus_00_dot_13) + (coolable Cup_bar__minus_02_dot_72_bar__plus_00_dot_82_bar__plus_00_dot_43) + (coolable Plate_bar__minus_02_dot_78_bar__plus_00_dot_83_bar__plus_02_dot_22) + + + + + + (sliceable Egg_bar__minus_02_dot_84_bar__plus_00_dot_95_bar__plus_01_dot_13) + (sliceable Apple_bar__minus_02_dot_81_bar__plus_00_dot_99_bar__plus_01_dot_39) + (sliceable Egg_bar__minus_02_dot_62_bar__plus_01_dot_47_bar__plus_02_dot_49) + (sliceable Apple_bar__minus_00_dot_36_bar__plus_00_dot_13_bar__plus_02_dot_54) + (sliceable Egg_bar__minus_01_dot_41_bar__plus_00_dot_72_bar__plus_00_dot_25) + (sliceable Apple_bar__minus_02_dot_38_bar__plus_00_dot_90_bar__plus_00_dot_20) + (sliceable Lettuce_bar__minus_02_dot_84_bar__plus_01_dot_23_bar__plus_02_dot_13) + (sliceable Potato_bar__minus_02_dot_89_bar__plus_00_dot_86_bar__plus_02_dot_05) + (sliceable Tomato_bar__minus_02_dot_49_bar__plus_00_dot_87_bar__plus_00_dot_50) + (sliceable Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25) + (sliceable Lettuce_bar__minus_02_dot_84_bar__plus_00_dot_91_bar__plus_00_dot_13) + + (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_39_bar__plus_00_dot_70_bar__plus_01_dot_18 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 PepperShaker_bar__minus_02_dot_38_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 Spatula_bar__minus_02_dot_81_bar__plus_00_dot_84_bar__plus_00_dot_95 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Lettuce_bar__minus_02_dot_84_bar__plus_00_dot_91_bar__plus_00_dot_13 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Spoon_bar__minus_02_dot_72_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 Knife_bar__minus_01_dot_15_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 SaltShaker_bar__minus_02_dot_66_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 Tomato_bar__minus_02_dot_49_bar__plus_00_dot_87_bar__plus_00_dot_50 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle ButterKnife_bar__minus_02_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_48 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle 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 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 Cup_bar__minus_02_dot_72_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_38_bar__plus_00_dot_90_bar__plus_00_dot_20 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_04_bar__plus_00_dot_85_bar__plus_00_dot_52 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Fork_bar__minus_01_dot_37_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 Spoon_bar__minus_02_dot_66_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_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 DishSponge_bar__minus_00_dot_86_bar__plus_00_dot_71_bar__plus_00_dot_41 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_71_bar__plus_00_dot_42) + (inReceptacle Spoon_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 Fork_bar__minus_02_dot_56_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 PepperShaker_bar__minus_02_dot_63_bar__plus_01_dot_43_bar__plus_00_dot_25 Cabinet_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__plus_00_dot_51) + (inReceptacle SoapBottle_bar__minus_02_dot_84_bar__plus_01_dot_43_bar__plus_00_dot_24 Cabinet_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__plus_00_dot_51) + (inReceptacle PepperShaker_bar__minus_02_dot_86_bar__plus_01_dot_43_bar__plus_01_dot_05 Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_83) + (inReceptacle Ladle_bar__minus_02_dot_61_bar__plus_00_dot_17_bar__plus_01_dot_59 Cabinet_bar__minus_02_dot_44_bar__plus_00_dot_39_bar__plus_01_dot_67) + (inReceptacle Ladle_bar__minus_01_dot_94_bar__plus_00_dot_17_bar__plus_00_dot_40 Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_39_bar__plus_00_dot_56) + (inReceptacle Plate_bar__minus_02_dot_12_bar__plus_00_dot_13_bar__plus_00_dot_40 Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_39_bar__plus_00_dot_56) + (inReceptacle SoapBottle_bar__minus_01_dot_35_bar__plus_00_dot_12_bar__plus_00_dot_40 Cabinet_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_56) + (inReceptacle Bowl_bar__minus_02_dot_73_bar__plus_01_dot_44_bar__plus_02_dot_05 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Potato_bar__minus_02_dot_89_bar__plus_00_dot_86_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_73_bar__plus_00_dot_82_bar__plus_02_dot_05 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Egg_bar__minus_02_dot_62_bar__plus_01_dot_47_bar__plus_02_dot_49 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Plate_bar__minus_02_dot_78_bar__plus_00_dot_83_bar__plus_02_dot_22 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Lettuce_bar__minus_02_dot_84_bar__plus_01_dot_23_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_84_bar__plus_00_dot_95_bar__plus_01_dot_13 Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35) + (inReceptacle Apple_bar__minus_02_dot_81_bar__plus_00_dot_99_bar__plus_01_dot_39 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"objectName": "Mug_57da2f86", + "position": { + "x": -2.72679257, + "y": 0.8198504, + "z": 2.045809 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Bowl_4c742e05", + "position": { + "x": -2.726792, + "y": 1.44222367, + "z": 2.04581022 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3606928800, + "scene_num": 25 + }, + "task_id": "trial_T20190908_233941_496641", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3F7G1FSFWQPLE_30MVJZJNHP4M2S396HO3VTXGA859J4", + "high_descs": [ + "Walk over to the kitchen sink.", + "Pick up the large metal knife with a golden handle off of the counter in front of the sink.", + "Slice up the tomato on the counter to your right." + ], + "task_desc": "Use a large metal knife to slice up a tomato on the counter.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1MKCTVKE7J0ZP_3U4J9857OH2C6QH43SD2J9NX7D0B71", + "high_descs": [ + "Turn around and go to the fridge, then turn left to go to the sink.", + "Pick up the large knife in front of the sink.", + "Slice the tomato on the counter to your right." + ], + "task_desc": "Slice a tomato on the counter.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2KAGFQU28JY43_3WYGZ5XF3Z6ZIR5QX8O6D32JHLNKSI", + "high_descs": [ + "Turn to your right and go across the kitchen to the sink. ", + "Pick up the knife on the counter, in front of the sink. ", + "Cut the tomato on the counter, to your right into slices. " + ], + "task_desc": "Cut a tomato into slices. ", + "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-DiningTable-23/trial_T20190909_224509_434167/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Cup-DiningTable-23/trial_T20190909_224509_434167/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..a5e852fbd61d37709b152f75afa929416789d0ad --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Cup-DiningTable-23/trial_T20190909_224509_434167/initial_state.pddl @@ -0,0 +1,990 @@ + +(define (problem plan_trial_T20190909_224509_434167) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_10_bar__plus_01_dot_00_bar__minus_01_dot_88 - object + Blinds_bar__minus_02_dot_54_bar__plus_02_dot_70_bar__minus_03_dot_96 - object + Bowl_bar__minus_00_dot_39_bar__plus_01_dot_39_bar__minus_00_dot_67 - object + Bowl_bar__minus_00_dot_39_bar__plus_01_dot_53_bar__minus_03_dot_68 - object + Bowl_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_02_dot_35 - object + Bread_bar__minus_00_dot_42_bar__plus_00_dot_95_bar__minus_03_dot_63 - object + ButterKnife_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_00_dot_96 - object + ButterKnife_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_01_dot_42 - object + ButterKnife_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_02_dot_12 - object + ButterKnife_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_01_dot_88 - object + Chair_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_25 - object + Chair_bar__minus_03_dot_26_bar__plus_00_dot_00_bar__minus_02_dot_09 - object + Cup_bar__minus_00_dot_35_bar__plus_01_dot_69_bar__minus_00_dot_56 - object + Cup_bar__minus_00_dot_39_bar__plus_01_dot_10_bar__minus_00_dot_77 - object + DishSponge_bar__minus_01_dot_98_bar__plus_00_dot_03_bar__minus_03_dot_76 - object + DishSponge_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_02_dot_35 - object + Egg_bar__minus_00_dot_35_bar__plus_00_dot_83_bar__minus_02_dot_23 - object + Egg_bar__minus_00_dot_51_bar__plus_00_dot_95_bar__minus_03_dot_37 - object + Egg_bar__minus_02_dot_78_bar__plus_00_dot_96_bar__minus_01_dot_65 - object + Faucet_bar__minus_00_dot_08_bar__plus_00_dot_90_bar__minus_02_dot_03 - object + Fork_bar__minus_00_dot_35_bar__plus_00_dot_80_bar__minus_01_dot_93 - object + Fork_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_01_dot_65 - object + Glassbottle_bar__minus_00_dot_16_bar__plus_01_dot_53_bar__minus_03_dot_13 - object + Glassbottle_bar__minus_00_dot_46_bar__plus_00_dot_08_bar__minus_01_dot_90 - object + Glassbottle_bar__minus_02_dot_21_bar__plus_00_dot_92_bar__minus_01_dot_65 - object + Knife_bar__minus_02_dot_32_bar__plus_00_dot_95_bar__minus_01_dot_19 - object + Knife_bar__minus_02_dot_32_bar__plus_00_dot_95_bar__minus_01_dot_42 - object + Knife_bar__minus_02_dot_32_bar__plus_00_dot_95_bar__minus_02_dot_12 - object + Lettuce_bar__minus_02_dot_56_bar__plus_01_dot_00_bar__minus_01_dot_68 - object + LightSwitch_bar__minus_04_dot_32_bar__plus_01_dot_32_bar__plus_00_dot_00 - object + Mug_bar__minus_00_dot_14_bar__plus_01_dot_52_bar__minus_02_dot_70 - object + Mug_bar__minus_00_dot_46_bar__plus_00_dot_08_bar__minus_01_dot_71 - object + Pan_bar__minus_02_dot_17_bar__plus_00_dot_91_bar__minus_01_dot_10 - object + Pencil_bar__minus_00_dot_75_bar__plus_00_dot_75_bar__minus_03_dot_59 - object + Pen_bar__minus_02_dot_32_bar__plus_00_dot_93_bar__minus_00_dot_96 - object + Pen_bar__minus_02_dot_78_bar__plus_00_dot_93_bar__minus_01_dot_19 - object + PepperShaker_bar__minus_01_dot_10_bar__plus_01_dot_97_bar__minus_03_dot_73 - object + Plate_bar__minus_00_dot_38_bar__plus_00_dot_08_bar__minus_02_dot_20 - object + Potato_bar__minus_01_dot_15_bar__plus_01_dot_66_bar__minus_03_dot_94 - object + Potato_bar__minus_01_dot_88_bar__plus_00_dot_06_bar__minus_03_dot_73 - object + Potato_bar__minus_02_dot_67_bar__plus_00_dot_95_bar__minus_01_dot_19 - object + Pot_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__minus_03_dot_50 - object + Pot_bar__minus_01_dot_52_bar__plus_00_dot_94_bar__minus_03_dot_50 - object + SaltShaker_bar__minus_00_dot_21_bar__plus_01_dot_97_bar__minus_01_dot_94 - object + SaltShaker_bar__minus_00_dot_39_bar__plus_00_dot_74_bar__minus_03_dot_33 - object + Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01 - object + SoapBottle_bar__minus_00_dot_46_bar__plus_00_dot_08_bar__minus_03_dot_30 - object + SoapBottle_bar__minus_00_dot_46_bar__plus_00_dot_91_bar__minus_03_dot_91 - object + SoapBottle_bar__minus_00_dot_72_bar__plus_00_dot_08_bar__minus_03_dot_51 - object + Spatula_bar__minus_00_dot_22_bar__plus_00_dot_93_bar__minus_03_dot_57 - object + Spatula_bar__minus_02_dot_67_bar__plus_00_dot_94_bar__minus_02_dot_12 - object + Spoon_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_02_dot_76 - object + Spoon_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_03_dot_84 - object + Spoon_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_01_dot_42 - object + StoveKnob_bar__minus_01_dot_03_bar__plus_01_dot_08_bar__minus_03_dot_96 - object + StoveKnob_bar__minus_01_dot_18_bar__plus_01_dot_08_bar__minus_03_dot_96 - object + StoveKnob_bar__minus_01_dot_42_bar__plus_01_dot_08_bar__minus_03_dot_96 - object + StoveKnob_bar__minus_01_dot_58_bar__plus_01_dot_08_bar__minus_03_dot_96 - object + Tomato_bar__minus_02_dot_72_bar__plus_00_dot_98_bar__minus_01_dot_92 - object + Window_bar__minus_02_dot_50_bar__plus_01_dot_78_bar__minus_04_dot_19 - object + WineBottle_bar__minus_00_dot_60_bar__plus_00_dot_92_bar__minus_03_dot_49 - object + WineBottle_bar__minus_02_dot_21_bar__plus_00_dot_92_bar__minus_01_dot_88 - object + Cabinet_bar__minus_00_dot_30_bar__plus_01_dot_92_bar__minus_02_dot_50 - receptacle + Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_01_dot_54 - receptacle + Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_02_dot_48 - receptacle + Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_92_bar__minus_03_dot_39 - receptacle + Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_80 - receptacle + Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_20 - receptacle + Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_40 - receptacle + Cabinet_bar__minus_00_dot_88_bar__plus_00_dot_39_bar__minus_03_dot_42 - receptacle + Cabinet_bar__minus_00_dot_88_bar__plus_02_dot_14_bar__minus_03_dot_69 - receptacle + Cabinet_bar__minus_01_dot_76_bar__plus_02_dot_14_bar__minus_03_dot_69 - receptacle + CoffeeMachine_bar__minus_00_dot_12_bar__plus_00_dot_90_bar__minus_03_dot_15 - receptacle + CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79 - receptacle + DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70 - receptacle + Drawer_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__minus_03_dot_27 - receptacle + Drawer_bar__minus_00_dot_75_bar__plus_00_dot_78_bar__minus_03_dot_55 - receptacle + Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77 - receptacle + GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__minus_03_dot_76 - receptacle + Microwave_bar__minus_01_dot_32_bar__plus_01_dot_52_bar__minus_03_dot_85 - receptacle + Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin - receptacle + StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_50 - receptacle + StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_75 - receptacle + StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_50 - receptacle + StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_75 - receptacle + Toaster_bar__minus_00_dot_15_bar__plus_00_dot_90_bar__minus_02_dot_76 - receptacle + loc_bar__minus_10_bar__minus_14_bar_2_bar__minus_15 - location + loc_bar__minus_4_bar__minus_12_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_15 - location + loc_bar__minus_4_bar__minus_8_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_12_bar_2_bar_30 - location + loc_bar__minus_6_bar__minus_7_bar_1_bar_60 - location + loc_bar__minus_5_bar__minus_12_bar_1_bar_45 - location + loc_bar__minus_6_bar__minus_12_bar_2_bar_45 - location + loc_bar__minus_5_bar__minus_3_bar_1_bar_60 - location + loc_bar__minus_5_bar__minus_7_bar_3_bar_30 - location + loc_bar__minus_4_bar__minus_12_bar_2_bar_60 - location + loc_bar__minus_4_bar__minus_11_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_10_bar_2_bar_60 - location + loc_bar__minus_5_bar__minus_12_bar_2_bar_15 - location + loc_bar__minus_9_bar__minus_14_bar_1_bar_60 - location + loc_bar__minus_5_bar__minus_12_bar_2_bar_60 - location + loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30 - location + loc_bar__minus_6_bar__minus_12_bar_2_bar_60 - location + loc_bar__minus_13_bar__minus_3_bar_2_bar_60 - location + loc_bar__minus_6_bar__minus_11_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_9_bar_2_bar__minus_15 - location + loc_bar__minus_4_bar__minus_6_bar_1_bar__minus_30 - location + loc_bar__minus_6_bar__minus_12_bar_2_bar_30 - location + loc_bar__minus_4_bar__minus_9_bar_1_bar_60 - location + loc_bar__minus_14_bar__minus_7_bar_2_bar_60 - location + loc_bar__minus_6_bar__minus_5_bar_1_bar_60 - location + loc_bar__minus_7_bar__minus_4_bar_3_bar_60 - location + loc_bar__minus_16_bar__minus_2_bar_0_bar_30 - location + loc_bar__minus_10_bar__minus_14_bar_2_bar__minus_30 - location + loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_15 - location + loc_bar__minus_5_bar__minus_12_bar_2_bar_30 - location + 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Drawer_bar__minus_00_dot_75_bar__plus_00_dot_78_bar__minus_03_dot_55) + (inReceptacle Spoon_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_02_dot_76 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79) + (inReceptacle Egg_bar__minus_00_dot_51_bar__plus_00_dot_95_bar__minus_03_dot_37 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79) + (inReceptacle WineBottle_bar__minus_00_dot_60_bar__plus_00_dot_92_bar__minus_03_dot_49 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79) + (inReceptacle Spatula_bar__minus_00_dot_22_bar__plus_00_dot_93_bar__minus_03_dot_57 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79) + (inReceptacle Spoon_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_03_dot_84 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79) + (inReceptacle SoapBottle_bar__minus_00_dot_46_bar__plus_00_dot_91_bar__minus_03_dot_91 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79) + (inReceptacle Bread_bar__minus_00_dot_42_bar__plus_00_dot_95_bar__minus_03_dot_63 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79) + (inReceptacle PepperShaker_bar__minus_01_dot_10_bar__plus_01_dot_97_bar__minus_03_dot_73 Cabinet_bar__minus_00_dot_88_bar__plus_02_dot_14_bar__minus_03_dot_69) + (inReceptacle Fork_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_01_dot_65 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle Egg_bar__minus_02_dot_78_bar__plus_00_dot_96_bar__minus_01_dot_65 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle ButterKnife_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_00_dot_96 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle ButterKnife_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_02_dot_12 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle Glassbottle_bar__minus_02_dot_21_bar__plus_00_dot_92_bar__minus_01_dot_65 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle DishSponge_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_02_dot_35 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle Spatula_bar__minus_02_dot_67_bar__plus_00_dot_94_bar__minus_02_dot_12 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle Tomato_bar__minus_02_dot_72_bar__plus_00_dot_98_bar__minus_01_dot_92 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle Knife_bar__minus_02_dot_32_bar__plus_00_dot_95_bar__minus_01_dot_19 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle ButterKnife_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_01_dot_42 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glass.", + "Pick up the wine glass from inside the fridge and close the door.", + "Turn right and walk until level with the sink then turn right to face the table.", + "Put the glass on the table to the left of the apple and wine bottle." + ], + "task_desc": "Put a cool wine glass with a knife inside it on the table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1MKCTVKE7J0ZP_35LDD5557DVWKWSLDBSK1U3DPW4MK7", + "high_descs": [ + "Move forward, then turn left to face the green table.", + "Pick up the butter knife on the green table, to the right of the lettuce.", + "Turn right and go to the wall, then turn right to face the fridge.", + "Open the fridge and put the butter knife inside of the glass in the fridge.", + "Pick up the glass from inside the fridge.", + "Go to the green table behind you.", + "Put the glass on the green table." + ], + "task_desc": "Put a glass with a butter knife in it on the table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1Z0VVDFYH9PBW_3V5Q80FXI0I0HUGLINH15Z8D85O238", + "high_descs": [ + "Look down, walk forward two steps then turn to your left and walk up to the table.", + "Grab the knife in the very back between the lettuce and egg.", + "Turn to your right, walk forward three steps then turn right again and walk to the fridge.", + "Open the fridge and place the knife on the wine glass in the back.", + "Grab the wine glass with the knife in it, then close the fridge.", + "Turn right then walk forward four steps then turn right again then walk forward to the table.", + "Place the wine glass on the table on the left side of the apple." + ], + "task_desc": "Put the knife in the wine glass and set that glass on the table.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Cup-DiningTable-23/trial_T20190909_224603_034603/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Cup-DiningTable-23/trial_T20190909_224603_034603/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..08b417ff622d54ef2d2bcba7336fcd298e401694 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Cup-DiningTable-23/trial_T20190909_224603_034603/initial_state.pddl @@ -0,0 +1,949 @@ + +(define (problem plan_trial_T20190909_224603_034603) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + 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Pen_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_03_dot_57 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79) + (inReceptacle PepperShaker_bar__minus_00_dot_22_bar__plus_00_dot_91_bar__minus_03_dot_37 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79) + (inReceptacle Glassbottle_bar__minus_00_dot_39_bar__plus_00_dot_92_bar__minus_03_dot_91 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79) + (inReceptacle Mug_bar__minus_00_dot_60_bar__plus_00_dot_91_bar__minus_03_dot_63 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79) + (inReceptacle Knife_bar__minus_00_dot_37_bar__plus_00_dot_94_bar__minus_03_dot_77 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79) + (inReceptacle Pencil_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_01_dot_88 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle 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ButterKnife_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_02_dot_12 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle Pencil_bar__minus_02_dot_21_bar__plus_00_dot_92_bar__minus_01_dot_42 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle Lettuce_bar__minus_02_dot_56_bar__plus_01_dot_00_bar__minus_01_dot_68 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle Spoon_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_01_dot_19 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle Plate_bar__minus_02_dot_21_bar__plus_00_dot_93_bar__minus_01_dot_88 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle ButterKnife_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_02_dot_35 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle SoapBottle_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_01_dot_42 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle ButterKnife_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_42 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle WineBottle_bar__minus_02_dot_21_bar__plus_00_dot_92_bar__minus_02_dot_12 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle Pencil_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_88 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle Mug_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_19 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle PepperShaker_bar__minus_00_dot_81_bar__plus_00_dot_08_bar__minus_03_dot_70 Cabinet_bar__minus_00_dot_88_bar__plus_00_dot_39_bar__minus_03_dot_42) + (inReceptacle 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"pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3F7G1FSFWQPLE_32KTQ2V7RG6C309U9E1VBLPXE2C9MK", + "high_descs": [ + "Turn left and begin walking across the room, then hang a left and walk over to the far side of the kitchen island.", + "Pick up the butter knife that is closest to the tomato on the kitchen island.", + "Turn around and walk over to the sink.", + "Put the butter knife in the glass that is in the sink.", + "Pick up the glass with the butter knife in it out of the sink.", + "Walk back over to the kitchen island behind you.", + "Put the glass with the butter knife in it on the island to the right of the plate." + ], + "task_desc": "Put a glass with a butter knife in it on the kitchen island.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AFU00NU09CFXE_3F1567XTNZW3OF7M178CSU92O35Q9K", + "high_descs": [ + "Turn around and move to the wall,, then head left and once you pass the kitchen island, turn left again and stop so you're facing the gold plate on the island.", + "Pick up the butter knife closest to the tomato.", + "Turn around and carry the butter knife to the sink.", + "Place the knife in the martini glass.", + "Pick up the glass with the knife inside from the sink.", + "Turn back around to face the island again.", + "Place the glass with the knife in it on the island to the right of the gold plate." + ], + "task_desc": "Move a martini glass beneath a knife on the island.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3C81THYYSBGVD_3H7XDTSHKFINNMQGRMDSC0DBGH7WGB", + "high_descs": [ + "Turn around then left and face the table to your left.", + "Take the knife off the table in front of you.", + "Turn around and face the sink in front of you.", + "Place the knife in the glass in the sink in front of you.", + "Take the glass with the knife in the sink in front of you.", + "Turn around and face the table in front of you.", + "Place the glass on the table in front of you." + ], + "task_desc": "Place a glass with a knife on the table.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-CreditCard-Box-ArmChair-206/trial_T20190907_141831_392126/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-CreditCard-Box-ArmChair-206/trial_T20190907_141831_392126/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..d90d5d6586b0988713870cd4d5bfb060783f6d6f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-CreditCard-Box-ArmChair-206/trial_T20190907_141831_392126/initial_state.pddl @@ -0,0 +1,566 @@ + +(define (problem plan_trial_T20190907_141831_392126) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Bowl_bar__minus_01_dot_64_bar__plus_00_dot_42_bar__minus_01_dot_72 - object + 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RemoteControl_bar__minus_00_dot_09_bar__plus_00_dot_55_bar__plus_00_dot_81 - object + RemoteControl_bar__minus_00_dot_42_bar__plus_00_dot_47_bar__minus_01_dot_25 - object + Statue_bar__plus_00_dot_04_bar__plus_00_dot_48_bar__minus_01_dot_12 - object + Statue_bar__plus_00_dot_34_bar__plus_00_dot_58_bar__minus_01_dot_06 - object + Statue_bar__minus_01_dot_80_bar__plus_01_dot_32_bar__minus_02_dot_47 - object + Television_bar__minus_00_dot_01_bar__plus_01_dot_23_bar__minus_02_dot_44 - object + Vase_bar__plus_00_dot_47_bar__plus_00_dot_18_bar__minus_02_dot_20 - object + Vase_bar__minus_01_dot_59_bar__plus_00_dot_17_bar__minus_00_dot_53 - object + Vase_bar__minus_01_dot_63_bar__plus_00_dot_17_bar__minus_01_dot_63 - object + Vase_bar__minus_01_dot_87_bar__plus_00_dot_77_bar__minus_01_dot_06 - object + Window_bar__plus_00_dot_79_bar__plus_01_dot_54_bar__minus_02_dot_72 - object + Window_bar__minus_00_dot_82_bar__plus_01_dot_54_bar__minus_02_dot_72 - object + ArmChair_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_02_dot_02 - receptacle + CoffeeTable_bar__plus_00_dot_02_bar_00_dot_00_bar__minus_01_dot_11 - receptacle + GarbageCan_bar__plus_00_dot_74_bar__plus_00_dot_00_bar__minus_02_dot_53 - receptacle + Shelf_bar__plus_00_dot_36_bar__plus_00_dot_17_bar__minus_02_dot_24 - receptacle + Shelf_bar__plus_00_dot_36_bar__plus_00_dot_41_bar__minus_02_dot_24 - receptacle + Shelf_bar__plus_00_dot_36_bar__plus_00_dot_56_bar__minus_02_dot_28 - receptacle + Shelf_bar__minus_00_dot_01_bar__plus_00_dot_17_bar__minus_02_dot_39 - receptacle + Shelf_bar__minus_00_dot_38_bar__plus_00_dot_17_bar__minus_02_dot_23 - receptacle + Shelf_bar__minus_00_dot_38_bar__plus_00_dot_47_bar__minus_02_dot_25 - receptacle + Shelf_bar__minus_01_dot_63_bar__plus_00_dot_16_bar__minus_01_dot_62 - receptacle + Shelf_bar__minus_01_dot_64_bar__plus_00_dot_41_bar__minus_01_dot_62 - receptacle + Shelf_bar__minus_01_dot_64_bar__plus_00_dot_47_bar__minus_00_dot_46 - receptacle + Shelf_bar__minus_01_dot_64_bar__plus_00_dot_56_bar__minus_01_dot_62 - receptacle + Shelf_bar__minus_01_dot_66_bar__plus_00_dot_16_bar__minus_00_dot_46 - receptacle + Shelf_bar__minus_01_dot_74_bar__plus_00_dot_16_bar__minus_01_dot_05 - receptacle + Shelf_bar__minus_01_dot_83_bar__plus_01_dot_32_bar__minus_02_dot_41 - receptacle + Shelf_bar__minus_01_dot_83_bar__plus_01_dot_61_bar__minus_02_dot_41 - receptacle + Sofa_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_19 - receptacle + TVStand_bar__plus_00_dot_00_bar__plus_00_dot_00_bar__minus_02_dot_39 - receptacle + TVStand_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__minus_01_dot_06 - receptacle + loc_bar_4_bar__minus_6_bar_3_bar_60 - location + loc_bar_1_bar__minus_2_bar_0_bar_45 - location + loc_bar__minus_4_bar__minus_3_bar_3_bar_60 - location + loc_bar__minus_3_bar__minus_6_bar_2_bar_60 - location + loc_bar_5_bar__minus_8_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_7_bar_3_bar_45 - location + loc_bar__minus_1_bar__minus_7_bar_3_bar_45 - location + loc_bar_4_bar__minus_5_bar_2_bar_60 - location + loc_bar__minus_3_bar__minus_7_bar_3_bar_0 - location + loc_bar__minus_4_bar__minus_5_bar_2_bar_60 - location + loc_bar_5_bar__minus_9_bar_3_bar_60 - location + loc_bar__minus_3_bar_0_bar_3_bar_60 - location + loc_bar_6_bar__minus_9_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_3_bar_3_bar_60 - location + loc_bar__minus_4_bar__minus_8_bar_2_bar_15 - location + loc_bar__minus_4_bar__minus_8_bar_3_bar_15 - location + loc_bar_4_bar__minus_5_bar_2_bar_45 - location + loc_bar_4_bar__minus_4_bar_2_bar_45 - location + loc_bar__minus_3_bar__minus_7_bar_3_bar_60 - location + loc_bar_7_bar_4_bar_0_bar_30 - location + loc_bar__minus_2_bar_0_bar_3_bar_45 - location + loc_bar_5_bar__minus_6_bar_3_bar_60 - location + loc_bar_1_bar_1_bar_0_bar_0 - location + loc_bar_8_bar__minus_4_bar_1_bar_60 - location + loc_bar__minus_6_bar_2_bar_0_bar_60 - location + loc_bar_5_bar__minus_9_bar_2_bar_15 - location + loc_bar__minus_5_bar_0_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Shelf_bar__plus_00_dot_36_bar__plus_00_dot_41_bar__minus_02_dot_24 ShelfType) + (receptacleType TVStand_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__minus_01_dot_06 TVStandType) + (receptacleType Shelf_bar__minus_01_dot_83_bar__plus_01_dot_32_bar__minus_02_dot_41 ShelfType) + (receptacleType Shelf_bar__minus_00_dot_38_bar__plus_00_dot_17_bar__minus_02_dot_23 ShelfType) + (receptacleType ArmChair_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_02_dot_02 ArmChairType) + (receptacleType Shelf_bar__minus_01_dot_63_bar__plus_00_dot_16_bar__minus_01_dot_62 ShelfType) + (receptacleType Sofa_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_19 SofaType) + (receptacleType CoffeeTable_bar__plus_00_dot_02_bar_00_dot_00_bar__minus_01_dot_11 CoffeeTableType) + (receptacleType Shelf_bar__minus_01_dot_64_bar__plus_00_dot_47_bar__minus_00_dot_46 ShelfType) + (receptacleType Shelf_bar__plus_00_dot_36_bar__plus_00_dot_56_bar__minus_02_dot_28 ShelfType) + (receptacleType Shelf_bar__minus_01_dot_83_bar__plus_01_dot_61_bar__minus_02_dot_41 ShelfType) + (receptacleType Shelf_bar__plus_00_dot_36_bar__plus_00_dot_17_bar__minus_02_dot_24 ShelfType) + (receptacleType Shelf_bar__minus_01_dot_64_bar__plus_00_dot_56_bar__minus_01_dot_62 ShelfType) + (receptacleType Shelf_bar__minus_01_dot_64_bar__plus_00_dot_41_bar__minus_01_dot_62 ShelfType) + (receptacleType Shelf_bar__minus_00_dot_01_bar__plus_00_dot_17_bar__minus_02_dot_39 ShelfType) + (receptacleType TVStand_bar__plus_00_dot_00_bar__plus_00_dot_00_bar__minus_02_dot_39 TVStandType) + (receptacleType Shelf_bar__minus_01_dot_74_bar__plus_00_dot_16_bar__minus_01_dot_05 ShelfType) + (receptacleType GarbageCan_bar__plus_00_dot_74_bar__plus_00_dot_00_bar__minus_02_dot_53 GarbageCanType) + (receptacleType Shelf_bar__minus_01_dot_66_bar__plus_00_dot_16_bar__minus_00_dot_46 ShelfType) + (receptacleType Shelf_bar__minus_00_dot_38_bar__plus_00_dot_47_bar__minus_02_dot_25 ShelfType) + (objectType Laptop_bar__plus_00_dot_79_bar__plus_00_dot_54_bar__plus_01_dot_00 LaptopType) + (objectType HousePlant_bar__minus_01_dot_65_bar__plus_00_dot_75_bar__minus_01_dot_79 HousePlantType) + (objectType Statue_bar__minus_01_dot_80_bar__plus_01_dot_32_bar__minus_02_dot_47 StatueType) + (objectType Vase_bar__plus_00_dot_47_bar__plus_00_dot_18_bar__minus_02_dot_20 VaseType) + (objectType KeyChain_bar__plus_02_dot_24_bar__plus_00_dot_45_bar__minus_02_dot_14 KeyChainType) + (objectType Painting_bar__plus_00_dot_17_bar__plus_01_dot_78_bar__plus_01_dot_93 PaintingType) + (objectType Bowl_bar__minus_01_dot_79_bar__plus_00_dot_17_bar__minus_00_dot_95 BowlType) + (objectType Window_bar__minus_00_dot_82_bar__plus_01_dot_54_bar__minus_02_dot_72 WindowType) + (objectType Pillow_bar__minus_00_dot_50_bar__plus_00_dot_59_bar__plus_00_dot_96 PillowType) + (objectType Television_bar__minus_00_dot_01_bar__plus_01_dot_23_bar__minus_02_dot_44 TelevisionType) + (objectType Statue_bar__plus_00_dot_04_bar__plus_00_dot_48_bar__minus_01_dot_12 StatueType) + (objectType RemoteControl_bar__minus_00_dot_42_bar__plus_00_dot_47_bar__minus_01_dot_25 RemoteControlType) + (objectType Laptop_bar__minus_01_dot_73_bar__plus_00_dot_75_bar__minus_00_dot_70 LaptopType) + (objectType FloorLamp_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_30 FloorLampType) + (objectType LightSwitch_bar__plus_01_dot_41_bar__plus_01_dot_29_bar__plus_01_dot_65 LightSwitchType) + (objectType Box_bar__plus_02_dot_51_bar__plus_00_dot_14_bar__minus_01_dot_09 BoxType) + (objectType Window_bar__plus_00_dot_79_bar__plus_01_dot_54_bar__minus_02_dot_72 WindowType) + (objectType RemoteControl_bar__minus_00_dot_09_bar__plus_00_dot_55_bar__plus_00_dot_81 RemoteControlType) + (objectType Vase_bar__minus_01_dot_63_bar__plus_00_dot_17_bar__minus_01_dot_63 VaseType) + (objectType Vase_bar__minus_01_dot_87_bar__plus_00_dot_77_bar__minus_01_dot_06 VaseType) + (objectType KeyChain_bar__plus_00_dot_13_bar__plus_00_dot_55_bar__plus_01_dot_00 KeyChainType) + (objectType Statue_bar__plus_00_dot_34_bar__plus_00_dot_58_bar__minus_01_dot_06 StatueType) + (objectType CreditCard_bar__minus_00_dot_15_bar__plus_00_dot_76_bar__minus_02_dot_25 CreditCardType) + (objectType Vase_bar__minus_01_dot_59_bar__plus_00_dot_17_bar__minus_00_dot_53 VaseType) + (objectType Bowl_bar__minus_01_dot_64_bar__plus_00_dot_42_bar__minus_01_dot_72 BowlType) + (canContain ShelfType BowlType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain ShelfType BowlType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain ShelfType BowlType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain ShelfType BowlType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain 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Bowl_bar__minus_01_dot_79_bar__plus_00_dot_17_bar__minus_00_dot_95 Shelf_bar__minus_01_dot_74_bar__plus_00_dot_16_bar__minus_01_dot_05) + (inReceptacle Vase_bar__minus_01_dot_63_bar__plus_00_dot_17_bar__minus_01_dot_63 Shelf_bar__minus_01_dot_63_bar__plus_00_dot_16_bar__minus_01_dot_62) + (inReceptacle Statue_bar__plus_00_dot_34_bar__plus_00_dot_58_bar__minus_01_dot_06 CoffeeTable_bar__plus_00_dot_02_bar_00_dot_00_bar__minus_01_dot_11) + (inReceptacle RemoteControl_bar__minus_00_dot_42_bar__plus_00_dot_47_bar__minus_01_dot_25 CoffeeTable_bar__plus_00_dot_02_bar_00_dot_00_bar__minus_01_dot_11) + (inReceptacle Statue_bar__plus_00_dot_04_bar__plus_00_dot_48_bar__minus_01_dot_12 CoffeeTable_bar__plus_00_dot_02_bar_00_dot_00_bar__minus_01_dot_11) + (inReceptacle Statue_bar__minus_01_dot_80_bar__plus_01_dot_32_bar__minus_02_dot_47 Shelf_bar__minus_01_dot_83_bar__plus_01_dot_32_bar__minus_02_dot_41) + (inReceptacle Vase_bar__minus_01_dot_59_bar__plus_00_dot_17_bar__minus_00_dot_53 Shelf_bar__minus_01_dot_66_bar__plus_00_dot_16_bar__minus_00_dot_46) + (inReceptacle KeyChain_bar__plus_00_dot_13_bar__plus_00_dot_55_bar__plus_01_dot_00 Sofa_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_19) + (inReceptacle RemoteControl_bar__minus_00_dot_09_bar__plus_00_dot_55_bar__plus_00_dot_81 Sofa_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_19) + (inReceptacle Pillow_bar__minus_00_dot_50_bar__plus_00_dot_59_bar__plus_00_dot_96 Sofa_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_19) + (inReceptacle Laptop_bar__plus_00_dot_79_bar__plus_00_dot_54_bar__plus_01_dot_00 Sofa_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_19) + (inReceptacle CreditCard_bar__minus_00_dot_15_bar__plus_00_dot_76_bar__minus_02_dot_25 TVStand_bar__plus_00_dot_00_bar__plus_00_dot_00_bar__minus_02_dot_39) + (inReceptacle Television_bar__minus_00_dot_01_bar__plus_01_dot_23_bar__minus_02_dot_44 TVStand_bar__plus_00_dot_00_bar__plus_00_dot_00_bar__minus_02_dot_39) + (inReceptacle Vase_bar__plus_00_dot_47_bar__plus_00_dot_18_bar__minus_02_dot_20 Shelf_bar__plus_00_dot_36_bar__plus_00_dot_17_bar__minus_02_dot_24) + + + (receptacleAtLocation ArmChair_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_02_dot_02 loc_bar_5_bar__minus_8_bar_1_bar_60) + (receptacleAtLocation CoffeeTable_bar__plus_00_dot_02_bar_00_dot_00_bar__minus_01_dot_11 loc_bar_5_bar__minus_6_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_00_dot_74_bar__plus_00_dot_00_bar__minus_02_dot_53 loc_bar_5_bar__minus_9_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__plus_00_dot_36_bar__plus_00_dot_17_bar__minus_02_dot_24 loc_bar_4_bar__minus_5_bar_2_bar_60) + (receptacleAtLocation Shelf_bar__plus_00_dot_36_bar__plus_00_dot_41_bar__minus_02_dot_24 loc_bar_4_bar__minus_5_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__plus_00_dot_36_bar__plus_00_dot_56_bar__minus_02_dot_28 loc_bar_4_bar__minus_4_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__minus_00_dot_01_bar__plus_00_dot_17_bar__minus_02_dot_39 loc_bar_4_bar__minus_6_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_38_bar__plus_00_dot_17_bar__minus_02_dot_23 loc_bar__minus_4_bar__minus_5_bar_2_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_38_bar__plus_00_dot_47_bar__minus_02_dot_25 loc_bar__minus_3_bar__minus_6_bar_2_bar_60) + (receptacleAtLocation Shelf_bar__minus_01_dot_63_bar__plus_00_dot_16_bar__minus_01_dot_62 loc_bar__minus_1_bar__minus_7_bar_3_bar_45) + (receptacleAtLocation Shelf_bar__minus_01_dot_64_bar__plus_00_dot_41_bar__minus_01_dot_62 loc_bar__minus_3_bar__minus_7_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_01_dot_64_bar__plus_00_dot_47_bar__minus_00_dot_46 loc_bar__minus_3_bar_0_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_01_dot_64_bar__plus_00_dot_56_bar__minus_01_dot_62 loc_bar__minus_2_bar__minus_7_bar_3_bar_45) + (receptacleAtLocation Shelf_bar__minus_01_dot_66_bar__plus_00_dot_16_bar__minus_00_dot_46 loc_bar__minus_2_bar_0_bar_3_bar_45) + (receptacleAtLocation Shelf_bar__minus_01_dot_74_bar__plus_00_dot_16_bar__minus_01_dot_05 loc_bar__minus_3_bar__minus_3_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_01_dot_83_bar__plus_01_dot_32_bar__minus_02_dot_41 loc_bar__minus_4_bar__minus_8_bar_3_bar_15) + (receptacleAtLocation Shelf_bar__minus_01_dot_83_bar__plus_01_dot_61_bar__minus_02_dot_41 loc_bar__minus_3_bar__minus_7_bar_3_bar_0) + (receptacleAtLocation Sofa_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_19 loc_bar_1_bar__minus_2_bar_0_bar_45) + (receptacleAtLocation TVStand_bar__plus_00_dot_00_bar__plus_00_dot_00_bar__minus_02_dot_39 loc_bar_5_bar__minus_9_bar_3_bar_60) + (receptacleAtLocation TVStand_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__minus_01_dot_06 loc_bar__minus_4_bar__minus_3_bar_3_bar_60) + (objectAtLocation RemoteControl_bar__minus_00_dot_42_bar__plus_00_dot_47_bar__minus_01_dot_25 loc_bar_5_bar__minus_6_bar_3_bar_60) + (objectAtLocation Laptop_bar__minus_01_dot_73_bar__plus_00_dot_75_bar__minus_00_dot_70 loc_bar__minus_4_bar__minus_3_bar_3_bar_60) + (objectAtLocation KeyChain_bar__plus_02_dot_24_bar__plus_00_dot_45_bar__minus_02_dot_14 loc_bar_6_bar__minus_9_bar_1_bar_60) + (objectAtLocation Bowl_bar__minus_01_dot_64_bar__plus_00_dot_42_bar__minus_01_dot_72 loc_bar__minus_3_bar__minus_7_bar_3_bar_60) + (objectAtLocation Box_bar__plus_02_dot_51_bar__plus_00_dot_14_bar__minus_01_dot_09 loc_bar_8_bar__minus_4_bar_1_bar_60) + (objectAtLocation Painting_bar__plus_00_dot_17_bar__plus_01_dot_78_bar__plus_01_dot_93 loc_bar_1_bar_1_bar_0_bar_0) + (objectAtLocation HousePlant_bar__minus_01_dot_65_bar__plus_00_dot_75_bar__minus_01_dot_79 loc_bar__minus_4_bar__minus_3_bar_3_bar_60) + (objectAtLocation Bowl_bar__minus_01_dot_79_bar__plus_00_dot_17_bar__minus_00_dot_95 loc_bar__minus_3_bar__minus_3_bar_3_bar_60) + (objectAtLocation LightSwitch_bar__plus_01_dot_41_bar__plus_01_dot_29_bar__plus_01_dot_65 loc_bar_7_bar_4_bar_0_bar_30) + (objectAtLocation KeyChain_bar__plus_00_dot_13_bar__plus_00_dot_55_bar__plus_01_dot_00 loc_bar_1_bar__minus_2_bar_0_bar_45) + (objectAtLocation Television_bar__minus_00_dot_01_bar__plus_01_dot_23_bar__minus_02_dot_44 loc_bar_5_bar__minus_9_bar_3_bar_60) + (objectAtLocation Vase_bar__minus_01_dot_59_bar__plus_00_dot_17_bar__minus_00_dot_53 loc_bar__minus_2_bar_0_bar_3_bar_45) + (objectAtLocation Statue_bar__minus_01_dot_80_bar__plus_01_dot_32_bar__minus_02_dot_47 loc_bar__minus_4_bar__minus_8_bar_3_bar_15) + (objectAtLocation Pillow_bar__minus_00_dot_50_bar__plus_00_dot_59_bar__plus_00_dot_96 loc_bar_1_bar__minus_2_bar_0_bar_45) + (objectAtLocation Laptop_bar__plus_00_dot_79_bar__plus_00_dot_54_bar__plus_01_dot_00 loc_bar_1_bar__minus_2_bar_0_bar_45) + (objectAtLocation Vase_bar__plus_00_dot_47_bar__plus_00_dot_18_bar__minus_02_dot_20 loc_bar_4_bar__minus_5_bar_2_bar_60) + (objectAtLocation Statue_bar__plus_00_dot_34_bar__plus_00_dot_58_bar__minus_01_dot_06 loc_bar_5_bar__minus_6_bar_3_bar_60) + (objectAtLocation RemoteControl_bar__minus_00_dot_09_bar__plus_00_dot_55_bar__plus_00_dot_81 loc_bar_1_bar__minus_2_bar_0_bar_45) + (objectAtLocation FloorLamp_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_30 loc_bar__minus_6_bar_2_bar_0_bar_60) + (objectAtLocation Vase_bar__minus_01_dot_87_bar__plus_00_dot_77_bar__minus_01_dot_06 loc_bar__minus_4_bar__minus_3_bar_3_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_15_bar__plus_00_dot_76_bar__minus_02_dot_25 loc_bar_5_bar__minus_9_bar_3_bar_60) + (objectAtLocation Vase_bar__minus_01_dot_63_bar__plus_00_dot_17_bar__minus_01_dot_63 loc_bar__minus_1_bar__minus_7_bar_3_bar_45) + (objectAtLocation Window_bar__minus_00_dot_82_bar__plus_01_dot_54_bar__minus_02_dot_72 loc_bar__minus_4_bar__minus_8_bar_2_bar_15) + (objectAtLocation Window_bar__plus_00_dot_79_bar__plus_01_dot_54_bar__minus_02_dot_72 loc_bar_5_bar__minus_9_bar_2_bar_15) + (objectAtLocation Statue_bar__plus_00_dot_04_bar__plus_00_dot_48_bar__minus_01_dot_12 loc_bar_5_bar__minus_6_bar_3_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (and + (receptacleType ?r ArmChairType) + (exists (?o - object) + (and + (objectType ?o CreditCardType) + (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-CreditCard-Box-ArmChair-206/trial_T20190907_141831_392126/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-CreditCard-Box-ArmChair-206/trial_T20190907_141831_392126/traj_data.json new file mode 100644 index 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a credit card in it", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1ZE52NWZPN85P_3LPW2N6LKWJ4UWQTJIQJPTHNBXZU5M", + "high_descs": [ + "Turn right until you get to the end of the sofa and then turn to face the box on the floor", + "Pick up the cardboard box off of the floor", + "Maneuver to your right so you are facing the dark blue chair ", + "Drop the box on to the blue chair", + "Turn around and then face the TV on your left", + "Pick up the credit card off of the TV shelves", + "Turn back to the chair on your left", + "Place the credit card in the empty box and then close it" + ], + "task_desc": "Put a credit card in a cardboard box box on a chair", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1O3TWBUDONVLO_3CTOC39K3A7A3KTIVC12GBM8LPD7J3", + "high_descs": [ + "Turn to the right and walk across the room then turn to the right to face an empty box on the floor.", + "Pick up the empty box on the floor.", + "Walk around the chair to face the front of it.", + "Place the empty box on the Chair.", + "Turn around, walk forward 2 steps, then turn left and face the tv stand.", + "Pick up the card off of the tv stand.", + "Turn to the left and walk forward to face the chair with an empty box on it.", + "Place the card in the empty box on the chair." + ], + "task_desc": "To put a card in an empty box as well as place the box on the chair.", + "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-CreditCard-Box-ArmChair-206/trial_T20190907_141900_448746/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-CreditCard-Box-ArmChair-206/trial_T20190907_141900_448746/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..073606a2c8ecde588e11816053a7a3ddb45dd1a1 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-CreditCard-Box-ArmChair-206/trial_T20190907_141900_448746/initial_state.pddl @@ -0,0 +1,584 @@ + +(define (problem plan_trial_T20190907_141900_448746) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Bowl_bar__minus_00_dot_12_bar__plus_00_dot_48_bar__minus_01_dot_25 - object + Bowl_bar__minus_01_dot_62_bar__plus_00_dot_76_bar__minus_01_dot_53 - object + Bowl_bar__minus_01_dot_87_bar__plus_00_dot_76_bar__minus_01_dot_53 - object + Box_bar__plus_02_dot_51_bar__plus_00_dot_14_bar__minus_01_dot_09 - object + CreditCard_bar__plus_00_dot_34_bar__plus_00_dot_47_bar__minus_01_dot_18 - object + CreditCard_bar__plus_00_dot_35_bar__plus_00_dot_55_bar__plus_01_dot_00 - object + CreditCard_bar__minus_00_dot_31_bar__plus_00_dot_55_bar__plus_00_dot_81 - object + FloorLamp_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_30 - object + HousePlant_bar__minus_01_dot_65_bar__plus_00_dot_75_bar__minus_01_dot_79 - object + KeyChain_bar__plus_00_dot_04_bar__plus_00_dot_47_bar__minus_00_dot_93 - object + KeyChain_bar__plus_00_dot_49_bar__plus_00_dot_48_bar__minus_01_dot_25 - object + Laptop_bar__minus_01_dot_73_bar__plus_00_dot_75_bar__minus_00_dot_70 - object + LightSwitch_bar__plus_01_dot_41_bar__plus_01_dot_29_bar__plus_01_dot_65 - object + Painting_bar__plus_00_dot_17_bar__plus_01_dot_78_bar__plus_01_dot_93 - object + Pillow_bar__plus_00_dot_79_bar__plus_00_dot_61_bar__plus_00_dot_91 - object + RemoteControl_bar__minus_00_dot_27_bar__plus_00_dot_48_bar__minus_01_dot_06 - object + RemoteControl_bar__minus_00_dot_42_bar__plus_00_dot_48_bar__minus_01_dot_18 - object + RemoteControl_bar__minus_01_dot_87_bar__plus_00_dot_76_bar__minus_01_dot_76 - object + Statue_bar__plus_00_dot_15_bar__plus_00_dot_55_bar__minus_01_dot_13 - object + Statue_bar__minus_01_dot_62_bar__plus_00_dot_76_bar__minus_00_dot_35 - object + Statue_bar__minus_01_dot_83_bar__plus_01_dot_63_bar__minus_02_dot_50 - object + Television_bar__minus_00_dot_01_bar__plus_01_dot_23_bar__minus_02_dot_44 - object + Vase_bar__plus_00_dot_01_bar__plus_00_dot_17_bar__minus_02_dot_26 - object + Vase_bar__minus_01_dot_59_bar__plus_00_dot_17_bar__minus_00_dot_53 - object + Vase_bar__minus_01_dot_61_bar__plus_00_dot_42_bar__minus_01_dot_63 - object + Vase_bar__minus_01_dot_87_bar__plus_00_dot_76_bar__minus_01_dot_29 - object + Window_bar__plus_00_dot_79_bar__plus_01_dot_54_bar__minus_02_dot_72 - object + Window_bar__minus_00_dot_82_bar__plus_01_dot_54_bar__minus_02_dot_72 - object + ArmChair_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_02_dot_02 - receptacle + CoffeeTable_bar__plus_00_dot_02_bar_00_dot_00_bar__minus_01_dot_11 - receptacle + GarbageCan_bar__plus_00_dot_74_bar__plus_00_dot_00_bar__minus_02_dot_53 - receptacle + Shelf_bar__plus_00_dot_36_bar__plus_00_dot_17_bar__minus_02_dot_24 - receptacle + Shelf_bar__plus_00_dot_36_bar__plus_00_dot_41_bar__minus_02_dot_24 - receptacle + Shelf_bar__plus_00_dot_36_bar__plus_00_dot_56_bar__minus_02_dot_28 - receptacle + Shelf_bar__minus_00_dot_01_bar__plus_00_dot_17_bar__minus_02_dot_39 - receptacle + Shelf_bar__minus_00_dot_38_bar__plus_00_dot_17_bar__minus_02_dot_23 - receptacle + Shelf_bar__minus_00_dot_38_bar__plus_00_dot_47_bar__minus_02_dot_25 - receptacle + Shelf_bar__minus_01_dot_63_bar__plus_00_dot_16_bar__minus_01_dot_62 - receptacle + Shelf_bar__minus_01_dot_64_bar__plus_00_dot_41_bar__minus_01_dot_62 - receptacle + Shelf_bar__minus_01_dot_64_bar__plus_00_dot_47_bar__minus_00_dot_46 - receptacle + Shelf_bar__minus_01_dot_64_bar__plus_00_dot_56_bar__minus_01_dot_62 - receptacle + Shelf_bar__minus_01_dot_66_bar__plus_00_dot_16_bar__minus_00_dot_46 - receptacle + Shelf_bar__minus_01_dot_74_bar__plus_00_dot_16_bar__minus_01_dot_05 - receptacle + Shelf_bar__minus_01_dot_83_bar__plus_01_dot_32_bar__minus_02_dot_41 - receptacle + Shelf_bar__minus_01_dot_83_bar__plus_01_dot_61_bar__minus_02_dot_41 - receptacle + Sofa_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_19 - receptacle + TVStand_bar__plus_00_dot_00_bar__plus_00_dot_00_bar__minus_02_dot_39 - receptacle + TVStand_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__minus_01_dot_06 - receptacle + loc_bar_4_bar__minus_6_bar_3_bar_60 - location + loc_bar_1_bar__minus_2_bar_0_bar_45 - location + loc_bar__minus_4_bar__minus_3_bar_3_bar_60 - location + loc_bar__minus_3_bar__minus_6_bar_2_bar_60 - location + loc_bar_5_bar__minus_8_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_7_bar_3_bar_45 - location + loc_bar__minus_1_bar__minus_7_bar_3_bar_45 - location + loc_bar_4_bar__minus_5_bar_2_bar_60 - location + loc_bar__minus_3_bar__minus_7_bar_3_bar_0 - location + loc_bar__minus_4_bar__minus_5_bar_2_bar_60 - location + loc_bar_5_bar__minus_9_bar_3_bar_60 - location + loc_bar__minus_3_bar_0_bar_3_bar_60 - location + loc_bar__minus_3_bar__minus_3_bar_3_bar_60 - location + loc_bar__minus_4_bar__minus_8_bar_2_bar_15 - location + loc_bar__minus_4_bar__minus_8_bar_3_bar_15 - location + loc_bar_4_bar__minus_5_bar_2_bar_45 - location + loc_bar_4_bar__minus_4_bar_2_bar_45 - location + loc_bar__minus_3_bar__minus_7_bar_3_bar_60 - location + loc_bar_7_bar_4_bar_0_bar_30 - location + loc_bar__minus_2_bar_0_bar_3_bar_45 - location + loc_bar_5_bar__minus_6_bar_3_bar_60 - location + loc_bar_1_bar_1_bar_0_bar_0 - location + loc_bar_8_bar__minus_4_bar_1_bar_60 - location + loc_bar__minus_6_bar_2_bar_0_bar_60 - location + loc_bar_5_bar__minus_9_bar_2_bar_15 - location + loc_bar_2_bar__minus_1_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Shelf_bar__plus_00_dot_36_bar__plus_00_dot_41_bar__minus_02_dot_24 ShelfType) + (receptacleType TVStand_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__minus_01_dot_06 TVStandType) + (receptacleType Shelf_bar__minus_01_dot_83_bar__plus_01_dot_32_bar__minus_02_dot_41 ShelfType) + (receptacleType Shelf_bar__minus_00_dot_38_bar__plus_00_dot_17_bar__minus_02_dot_23 ShelfType) + (receptacleType ArmChair_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_02_dot_02 ArmChairType) + (receptacleType Shelf_bar__minus_01_dot_63_bar__plus_00_dot_16_bar__minus_01_dot_62 ShelfType) + (receptacleType Sofa_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_19 SofaType) + (receptacleType CoffeeTable_bar__plus_00_dot_02_bar_00_dot_00_bar__minus_01_dot_11 CoffeeTableType) + (receptacleType Shelf_bar__minus_01_dot_64_bar__plus_00_dot_47_bar__minus_00_dot_46 ShelfType) + (receptacleType Shelf_bar__plus_00_dot_36_bar__plus_00_dot_56_bar__minus_02_dot_28 ShelfType) + (receptacleType Shelf_bar__minus_01_dot_83_bar__plus_01_dot_61_bar__minus_02_dot_41 ShelfType) + (receptacleType Shelf_bar__plus_00_dot_36_bar__plus_00_dot_17_bar__minus_02_dot_24 ShelfType) + (receptacleType Shelf_bar__minus_01_dot_64_bar__plus_00_dot_56_bar__minus_01_dot_62 ShelfType) + (receptacleType Shelf_bar__minus_01_dot_64_bar__plus_00_dot_41_bar__minus_01_dot_62 ShelfType) + (receptacleType Shelf_bar__minus_00_dot_01_bar__plus_00_dot_17_bar__minus_02_dot_39 ShelfType) + (receptacleType TVStand_bar__plus_00_dot_00_bar__plus_00_dot_00_bar__minus_02_dot_39 TVStandType) + (receptacleType Shelf_bar__minus_01_dot_74_bar__plus_00_dot_16_bar__minus_01_dot_05 ShelfType) + (receptacleType GarbageCan_bar__plus_00_dot_74_bar__plus_00_dot_00_bar__minus_02_dot_53 GarbageCanType) + (receptacleType Shelf_bar__minus_01_dot_66_bar__plus_00_dot_16_bar__minus_00_dot_46 ShelfType) + (receptacleType Shelf_bar__minus_00_dot_38_bar__plus_00_dot_47_bar__minus_02_dot_25 ShelfType) + (objectType HousePlant_bar__minus_01_dot_65_bar__plus_00_dot_75_bar__minus_01_dot_79 HousePlantType) + (objectType CreditCard_bar__plus_00_dot_34_bar__plus_00_dot_47_bar__minus_01_dot_18 CreditCardType) + (objectType RemoteControl_bar__minus_00_dot_42_bar__plus_00_dot_48_bar__minus_01_dot_18 RemoteControlType) + (objectType Statue_bar__minus_01_dot_83_bar__plus_01_dot_63_bar__minus_02_dot_50 StatueType) + (objectType Painting_bar__plus_00_dot_17_bar__plus_01_dot_78_bar__plus_01_dot_93 PaintingType) + (objectType Pillow_bar__plus_00_dot_79_bar__plus_00_dot_61_bar__plus_00_dot_91 PillowType) + (objectType Window_bar__minus_00_dot_82_bar__plus_01_dot_54_bar__minus_02_dot_72 WindowType) + (objectType Bowl_bar__minus_01_dot_62_bar__plus_00_dot_76_bar__minus_01_dot_53 BowlType) + (objectType KeyChain_bar__plus_00_dot_49_bar__plus_00_dot_48_bar__minus_01_dot_25 KeyChainType) + (objectType Bowl_bar__minus_01_dot_87_bar__plus_00_dot_76_bar__minus_01_dot_53 BowlType) + (objectType RemoteControl_bar__minus_01_dot_87_bar__plus_00_dot_76_bar__minus_01_dot_76 RemoteControlType) + (objectType Television_bar__minus_00_dot_01_bar__plus_01_dot_23_bar__minus_02_dot_44 TelevisionType) + (objectType CreditCard_bar__plus_00_dot_35_bar__plus_00_dot_55_bar__plus_01_dot_00 CreditCardType) + (objectType RemoteControl_bar__minus_00_dot_27_bar__plus_00_dot_48_bar__minus_01_dot_06 RemoteControlType) + (objectType Statue_bar__minus_01_dot_62_bar__plus_00_dot_76_bar__minus_00_dot_35 StatueType) + (objectType Laptop_bar__minus_01_dot_73_bar__plus_00_dot_75_bar__minus_00_dot_70 LaptopType) + (objectType FloorLamp_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_30 FloorLampType) + (objectType Statue_bar__plus_00_dot_15_bar__plus_00_dot_55_bar__minus_01_dot_13 StatueType) + (objectType LightSwitch_bar__plus_01_dot_41_bar__plus_01_dot_29_bar__plus_01_dot_65 LightSwitchType) + (objectType Box_bar__plus_02_dot_51_bar__plus_00_dot_14_bar__minus_01_dot_09 BoxType) + (objectType Window_bar__plus_00_dot_79_bar__plus_01_dot_54_bar__minus_02_dot_72 WindowType) + (objectType CreditCard_bar__minus_00_dot_31_bar__plus_00_dot_55_bar__plus_00_dot_81 CreditCardType) + (objectType Vase_bar__minus_01_dot_87_bar__plus_00_dot_76_bar__minus_01_dot_29 VaseType) + (objectType KeyChain_bar__plus_00_dot_04_bar__plus_00_dot_47_bar__minus_00_dot_93 KeyChainType) + (objectType Vase_bar__minus_01_dot_61_bar__plus_00_dot_42_bar__minus_01_dot_63 VaseType) + (objectType Vase_bar__plus_00_dot_01_bar__plus_00_dot_17_bar__minus_02_dot_26 VaseType) + (objectType Bowl_bar__minus_00_dot_12_bar__plus_00_dot_48_bar__minus_01_dot_25 BowlType) + (objectType Vase_bar__minus_01_dot_59_bar__plus_00_dot_17_bar__minus_00_dot_53 VaseType) + (canContain ShelfType BowlType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain ShelfType BowlType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain ShelfType BowlType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain ShelfType BowlType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType CreditCardType) + (canContain CoffeeTableType BowlType) + (canContain CoffeeTableType VaseType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType StatueType) + (canContain ShelfType BowlType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain ShelfType BowlType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain ShelfType BowlType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain ShelfType BowlType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain ShelfType BowlType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain ShelfType BowlType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain ShelfType BowlType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain ShelfType BowlType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain ShelfType BowlType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain ShelfType BowlType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (pickupable CreditCard_bar__plus_00_dot_34_bar__plus_00_dot_47_bar__minus_01_dot_18) + (pickupable RemoteControl_bar__minus_00_dot_42_bar__plus_00_dot_48_bar__minus_01_dot_18) + (pickupable Statue_bar__minus_01_dot_83_bar__plus_01_dot_63_bar__minus_02_dot_50) + (pickupable Pillow_bar__plus_00_dot_79_bar__plus_00_dot_61_bar__plus_00_dot_91) + (pickupable Bowl_bar__minus_01_dot_62_bar__plus_00_dot_76_bar__minus_01_dot_53) + (pickupable KeyChain_bar__plus_00_dot_49_bar__plus_00_dot_48_bar__minus_01_dot_25) + (pickupable Bowl_bar__minus_01_dot_87_bar__plus_00_dot_76_bar__minus_01_dot_53) + (pickupable RemoteControl_bar__minus_01_dot_87_bar__plus_00_dot_76_bar__minus_01_dot_76) + (pickupable CreditCard_bar__plus_00_dot_35_bar__plus_00_dot_55_bar__plus_01_dot_00) + (pickupable RemoteControl_bar__minus_00_dot_27_bar__plus_00_dot_48_bar__minus_01_dot_06) + (pickupable Statue_bar__minus_01_dot_62_bar__plus_00_dot_76_bar__minus_00_dot_35) + (pickupable Laptop_bar__minus_01_dot_73_bar__plus_00_dot_75_bar__minus_00_dot_70) + (pickupable Statue_bar__plus_00_dot_15_bar__plus_00_dot_55_bar__minus_01_dot_13) + (pickupable Box_bar__plus_02_dot_51_bar__plus_00_dot_14_bar__minus_01_dot_09) + (pickupable CreditCard_bar__minus_00_dot_31_bar__plus_00_dot_55_bar__plus_00_dot_81) + (pickupable Vase_bar__minus_01_dot_87_bar__plus_00_dot_76_bar__minus_01_dot_29) + (pickupable KeyChain_bar__plus_00_dot_04_bar__plus_00_dot_47_bar__minus_00_dot_93) + (pickupable Vase_bar__minus_01_dot_61_bar__plus_00_dot_42_bar__minus_01_dot_63) + (pickupable Vase_bar__plus_00_dot_01_bar__plus_00_dot_17_bar__minus_02_dot_26) + (pickupable Bowl_bar__minus_00_dot_12_bar__plus_00_dot_48_bar__minus_01_dot_25) + (pickupable Vase_bar__minus_01_dot_59_bar__plus_00_dot_17_bar__minus_00_dot_53) + (isReceptacleObject Bowl_bar__minus_01_dot_62_bar__plus_00_dot_76_bar__minus_01_dot_53) + (isReceptacleObject Bowl_bar__minus_01_dot_87_bar__plus_00_dot_76_bar__minus_01_dot_53) + (isReceptacleObject Box_bar__plus_02_dot_51_bar__plus_00_dot_14_bar__minus_01_dot_09) + (isReceptacleObject Bowl_bar__minus_00_dot_12_bar__plus_00_dot_48_bar__minus_01_dot_25) + + + (atLocation agent1 loc_bar_2_bar__minus_1_bar_3_bar_30) + + (cleanable Bowl_bar__minus_01_dot_62_bar__plus_00_dot_76_bar__minus_01_dot_53) + (cleanable Bowl_bar__minus_01_dot_87_bar__plus_00_dot_76_bar__minus_01_dot_53) + (cleanable Bowl_bar__minus_00_dot_12_bar__plus_00_dot_48_bar__minus_01_dot_25) + + + (coolable Bowl_bar__minus_01_dot_62_bar__plus_00_dot_76_bar__minus_01_dot_53) + (coolable Bowl_bar__minus_01_dot_87_bar__plus_00_dot_76_bar__minus_01_dot_53) + (coolable Bowl_bar__minus_00_dot_12_bar__plus_00_dot_48_bar__minus_01_dot_25) + + + (toggleable FloorLamp_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_30) + + + + + (inReceptacle HousePlant_bar__minus_01_dot_65_bar__plus_00_dot_75_bar__minus_01_dot_79 TVStand_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__minus_01_dot_06) + (inReceptacle Bowl_bar__minus_01_dot_87_bar__plus_00_dot_76_bar__minus_01_dot_53 TVStand_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__minus_01_dot_06) + (inReceptacle RemoteControl_bar__minus_01_dot_87_bar__plus_00_dot_76_bar__minus_01_dot_76 TVStand_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__minus_01_dot_06) + (inReceptacle Vase_bar__minus_01_dot_87_bar__plus_00_dot_76_bar__minus_01_dot_29 TVStand_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__minus_01_dot_06) + (inReceptacle Statue_bar__minus_01_dot_62_bar__plus_00_dot_76_bar__minus_00_dot_35 TVStand_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__minus_01_dot_06) + (inReceptacle Laptop_bar__minus_01_dot_73_bar__plus_00_dot_75_bar__minus_00_dot_70 TVStand_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__minus_01_dot_06) + (inReceptacle Bowl_bar__minus_01_dot_62_bar__plus_00_dot_76_bar__minus_01_dot_53 TVStand_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__minus_01_dot_06) + (inReceptacle Vase_bar__minus_01_dot_61_bar__plus_00_dot_42_bar__minus_01_dot_63 Shelf_bar__minus_01_dot_64_bar__plus_00_dot_41_bar__minus_01_dot_62) + (inReceptacle KeyChain_bar__plus_00_dot_49_bar__plus_00_dot_48_bar__minus_01_dot_25 CoffeeTable_bar__plus_00_dot_02_bar_00_dot_00_bar__minus_01_dot_11) + (inReceptacle Statue_bar__plus_00_dot_15_bar__plus_00_dot_55_bar__minus_01_dot_13 CoffeeTable_bar__plus_00_dot_02_bar_00_dot_00_bar__minus_01_dot_11) + (inReceptacle KeyChain_bar__plus_00_dot_04_bar__plus_00_dot_47_bar__minus_00_dot_93 CoffeeTable_bar__plus_00_dot_02_bar_00_dot_00_bar__minus_01_dot_11) + (inReceptacle CreditCard_bar__plus_00_dot_34_bar__plus_00_dot_47_bar__minus_01_dot_18 CoffeeTable_bar__plus_00_dot_02_bar_00_dot_00_bar__minus_01_dot_11) + (inReceptacle RemoteControl_bar__minus_00_dot_42_bar__plus_00_dot_48_bar__minus_01_dot_18 CoffeeTable_bar__plus_00_dot_02_bar_00_dot_00_bar__minus_01_dot_11) + (inReceptacle RemoteControl_bar__minus_00_dot_27_bar__plus_00_dot_48_bar__minus_01_dot_06 CoffeeTable_bar__plus_00_dot_02_bar_00_dot_00_bar__minus_01_dot_11) + (inReceptacle Bowl_bar__minus_00_dot_12_bar__plus_00_dot_48_bar__minus_01_dot_25 CoffeeTable_bar__plus_00_dot_02_bar_00_dot_00_bar__minus_01_dot_11) + (inReceptacle Vase_bar__minus_01_dot_59_bar__plus_00_dot_17_bar__minus_00_dot_53 Shelf_bar__minus_01_dot_66_bar__plus_00_dot_16_bar__minus_00_dot_46) + (inReceptacle Statue_bar__minus_01_dot_83_bar__plus_01_dot_63_bar__minus_02_dot_50 Shelf_bar__minus_01_dot_83_bar__plus_01_dot_61_bar__minus_02_dot_41) + (inReceptacle CreditCard_bar__plus_00_dot_35_bar__plus_00_dot_55_bar__plus_01_dot_00 Sofa_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_19) + (inReceptacle CreditCard_bar__minus_00_dot_31_bar__plus_00_dot_55_bar__plus_00_dot_81 Sofa_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_19) + (inReceptacle Pillow_bar__plus_00_dot_79_bar__plus_00_dot_61_bar__plus_00_dot_91 Sofa_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_19) + (inReceptacle Vase_bar__plus_00_dot_01_bar__plus_00_dot_17_bar__minus_02_dot_26 Shelf_bar__minus_00_dot_01_bar__plus_00_dot_17_bar__minus_02_dot_39) + (inReceptacle Television_bar__minus_00_dot_01_bar__plus_01_dot_23_bar__minus_02_dot_44 TVStand_bar__plus_00_dot_00_bar__plus_00_dot_00_bar__minus_02_dot_39) + + + (receptacleAtLocation ArmChair_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_02_dot_02 loc_bar_5_bar__minus_8_bar_1_bar_60) + (receptacleAtLocation CoffeeTable_bar__plus_00_dot_02_bar_00_dot_00_bar__minus_01_dot_11 loc_bar_5_bar__minus_6_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_00_dot_74_bar__plus_00_dot_00_bar__minus_02_dot_53 loc_bar_5_bar__minus_9_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__plus_00_dot_36_bar__plus_00_dot_17_bar__minus_02_dot_24 loc_bar_4_bar__minus_5_bar_2_bar_60) + (receptacleAtLocation Shelf_bar__plus_00_dot_36_bar__plus_00_dot_41_bar__minus_02_dot_24 loc_bar_4_bar__minus_5_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__plus_00_dot_36_bar__plus_00_dot_56_bar__minus_02_dot_28 loc_bar_4_bar__minus_4_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__minus_00_dot_01_bar__plus_00_dot_17_bar__minus_02_dot_39 loc_bar_4_bar__minus_6_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_38_bar__plus_00_dot_17_bar__minus_02_dot_23 loc_bar__minus_4_bar__minus_5_bar_2_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_38_bar__plus_00_dot_47_bar__minus_02_dot_25 loc_bar__minus_3_bar__minus_6_bar_2_bar_60) + (receptacleAtLocation Shelf_bar__minus_01_dot_63_bar__plus_00_dot_16_bar__minus_01_dot_62 loc_bar__minus_1_bar__minus_7_bar_3_bar_45) + (receptacleAtLocation Shelf_bar__minus_01_dot_64_bar__plus_00_dot_41_bar__minus_01_dot_62 loc_bar__minus_3_bar__minus_7_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_01_dot_64_bar__plus_00_dot_47_bar__minus_00_dot_46 loc_bar__minus_3_bar_0_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_01_dot_64_bar__plus_00_dot_56_bar__minus_01_dot_62 loc_bar__minus_2_bar__minus_7_bar_3_bar_45) + (receptacleAtLocation Shelf_bar__minus_01_dot_66_bar__plus_00_dot_16_bar__minus_00_dot_46 loc_bar__minus_2_bar_0_bar_3_bar_45) + (receptacleAtLocation Shelf_bar__minus_01_dot_74_bar__plus_00_dot_16_bar__minus_01_dot_05 loc_bar__minus_3_bar__minus_3_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_01_dot_83_bar__plus_01_dot_32_bar__minus_02_dot_41 loc_bar__minus_4_bar__minus_8_bar_3_bar_15) + (receptacleAtLocation Shelf_bar__minus_01_dot_83_bar__plus_01_dot_61_bar__minus_02_dot_41 loc_bar__minus_3_bar__minus_7_bar_3_bar_0) + (receptacleAtLocation Sofa_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_19 loc_bar_1_bar__minus_2_bar_0_bar_45) + (receptacleAtLocation TVStand_bar__plus_00_dot_00_bar__plus_00_dot_00_bar__minus_02_dot_39 loc_bar_5_bar__minus_9_bar_3_bar_60) + (receptacleAtLocation TVStand_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__minus_01_dot_06 loc_bar__minus_4_bar__minus_3_bar_3_bar_60) + (objectAtLocation CreditCard_bar__plus_00_dot_35_bar__plus_00_dot_55_bar__plus_01_dot_00 loc_bar_1_bar__minus_2_bar_0_bar_45) + (objectAtLocation RemoteControl_bar__minus_00_dot_42_bar__plus_00_dot_48_bar__minus_01_dot_18 loc_bar_5_bar__minus_6_bar_3_bar_60) + (objectAtLocation KeyChain_bar__plus_00_dot_49_bar__plus_00_dot_48_bar__minus_01_dot_25 loc_bar_5_bar__minus_6_bar_3_bar_60) + (objectAtLocation Bowl_bar__minus_01_dot_62_bar__plus_00_dot_76_bar__minus_01_dot_53 loc_bar__minus_4_bar__minus_3_bar_3_bar_60) + (objectAtLocation CreditCard_bar__plus_00_dot_34_bar__plus_00_dot_47_bar__minus_01_dot_18 loc_bar_5_bar__minus_6_bar_3_bar_60) + (objectAtLocation RemoteControl_bar__minus_01_dot_87_bar__plus_00_dot_76_bar__minus_01_dot_76 loc_bar__minus_4_bar__minus_3_bar_3_bar_60) + (objectAtLocation Bowl_bar__minus_00_dot_12_bar__plus_00_dot_48_bar__minus_01_dot_25 loc_bar_5_bar__minus_6_bar_3_bar_60) + (objectAtLocation Box_bar__plus_02_dot_51_bar__plus_00_dot_14_bar__minus_01_dot_09 loc_bar_8_bar__minus_4_bar_1_bar_60) + (objectAtLocation Painting_bar__plus_00_dot_17_bar__plus_01_dot_78_bar__plus_01_dot_93 loc_bar_1_bar_1_bar_0_bar_0) + (objectAtLocation HousePlant_bar__minus_01_dot_65_bar__plus_00_dot_75_bar__minus_01_dot_79 loc_bar__minus_4_bar__minus_3_bar_3_bar_60) + (objectAtLocation Bowl_bar__minus_01_dot_87_bar__plus_00_dot_76_bar__minus_01_dot_53 loc_bar__minus_4_bar__minus_3_bar_3_bar_60) + (objectAtLocation LightSwitch_bar__plus_01_dot_41_bar__plus_01_dot_29_bar__plus_01_dot_65 loc_bar_7_bar_4_bar_0_bar_30) + (objectAtLocation KeyChain_bar__plus_00_dot_04_bar__plus_00_dot_47_bar__minus_00_dot_93 loc_bar_5_bar__minus_6_bar_3_bar_60) + (objectAtLocation Television_bar__minus_00_dot_01_bar__plus_01_dot_23_bar__minus_02_dot_44 loc_bar_5_bar__minus_9_bar_3_bar_60) + (objectAtLocation Vase_bar__minus_01_dot_59_bar__plus_00_dot_17_bar__minus_00_dot_53 loc_bar__minus_2_bar_0_bar_3_bar_45) + (objectAtLocation Statue_bar__minus_01_dot_62_bar__plus_00_dot_76_bar__minus_00_dot_35 loc_bar__minus_4_bar__minus_3_bar_3_bar_60) + (objectAtLocation Pillow_bar__plus_00_dot_79_bar__plus_00_dot_61_bar__plus_00_dot_91 loc_bar_1_bar__minus_2_bar_0_bar_45) + (objectAtLocation Laptop_bar__minus_01_dot_73_bar__plus_00_dot_75_bar__minus_00_dot_70 loc_bar__minus_4_bar__minus_3_bar_3_bar_60) + (objectAtLocation Vase_bar__minus_01_dot_87_bar__plus_00_dot_76_bar__minus_01_dot_29 loc_bar__minus_4_bar__minus_3_bar_3_bar_60) + (objectAtLocation Statue_bar__plus_00_dot_15_bar__plus_00_dot_55_bar__minus_01_dot_13 loc_bar_5_bar__minus_6_bar_3_bar_60) + (objectAtLocation RemoteControl_bar__minus_00_dot_27_bar__plus_00_dot_48_bar__minus_01_dot_06 loc_bar_5_bar__minus_6_bar_3_bar_60) + (objectAtLocation FloorLamp_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_30 loc_bar__minus_6_bar_2_bar_0_bar_60) + (objectAtLocation Vase_bar__plus_00_dot_01_bar__plus_00_dot_17_bar__minus_02_dot_26 loc_bar_4_bar__minus_6_bar_3_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_31_bar__plus_00_dot_55_bar__plus_00_dot_81 loc_bar_1_bar__minus_2_bar_0_bar_45) + (objectAtLocation Vase_bar__minus_01_dot_61_bar__plus_00_dot_42_bar__minus_01_dot_63 loc_bar__minus_3_bar__minus_7_bar_3_bar_60) + (objectAtLocation Window_bar__minus_00_dot_82_bar__plus_01_dot_54_bar__minus_02_dot_72 loc_bar__minus_4_bar__minus_8_bar_2_bar_15) + (objectAtLocation Window_bar__plus_00_dot_79_bar__plus_01_dot_54_bar__minus_02_dot_72 loc_bar_5_bar__minus_9_bar_2_bar_15) + (objectAtLocation Statue_bar__minus_01_dot_83_bar__plus_01_dot_63_bar__minus_02_dot_50 loc_bar__minus_3_bar__minus_7_bar_3_bar_0) + ) + + + (:goal + (and + (exists (?r - receptacle) + (and + (receptacleType ?r ArmChairType) + (exists (?o - object) + (and + (objectType ?o CreditCardType) + (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-CreditCard-Box-ArmChair-206/trial_T20190907_141900_448746/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-CreditCard-Box-ArmChair-206/trial_T20190907_141900_448746/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..5cd81a8f3a6b3832dc723cb720966e81f016a76a --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-CreditCard-Box-ArmChair-206/trial_T20190907_141900_448746/traj_data.json @@ -0,0 +1,4984 @@ +{ + "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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chair.", + "Put the box on the chair.", + "Turn around and go to the coffee table.", + "Pick up the credit card from the table.", + "Go back to the chair with the box.", + "Put the card in the box." + ], + "task_desc": "Put the credit card in a box on the chair.", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1HKHM4NVAO98H_3HWRJOOET8JOB2RI5EOMEM5C3NNSE3", + "high_descs": [ + "turn around and walk over to the left side of the blue chair in the corner of the room on the right", + "grab the box off of the ground there", + "move over to the front of the blue chair on your right", + "place the box down on the chair there", + "turn around and walk to the coffee table on your right", + "grab the credit card off of the table there", + "turn right and walk back over to the blue chair in the corner of the room", + "place the credit card down inside of the box on the chair and close the box" + ], + "task_desc": "place a box down on the blue chair in the corner of the room with a credit card in it", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1O3TWBUDONVLO_3ON104KXQNDZQHBY0DMA2PW6WGS4W1", + "high_descs": [ + "Turn around and walk towards the empty box on the floor.", + "Pick up the empty box on the floor.", + "walk around the chair to face the front of it.", + "Put the empty box on the chair.", + "Turn around and walk forward and turn right to face the table.", + "Pick up the credit card on the table.", + "Turn to the right and approach the chair with an empty box on it.", + "Put the card in the empty box on the chair." + ], + "task_desc": "To move a box as well as a card to an arm chair.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1OWHPMKE7YAGL_3DH6GAKTY16JIJUN07UOHIUV8JVYZ6", + "high_descs": [ + "Turn around and go to the far wall to the cardboard box on the floor. ", + "Pick up the cardboard box that is on the floor. ", + "Go to the front of the blue chair that is immediately to your right. ", + "Put the cardboard box in the chair. ", + "Turn around and go to the white coffee table. ", + "Pick up the blue credit card that is on the coffee table to the right of the statue. ", + "Turn around and head back to the blue chair with the cardboard box.", + "Put the credit card inside of the cardboard box that is on the chair. " + ], + "task_desc": "Put a credit card inside a box that is on a chair. ", + "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-CreditCard-Box-ArmChair-206/trial_T20190907_141928_872709/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-CreditCard-Box-ArmChair-206/trial_T20190907_141928_872709/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..5a994464521930753979f63fa0d80a8477f37955 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-CreditCard-Box-ArmChair-206/trial_T20190907_141928_872709/initial_state.pddl @@ -0,0 +1,579 @@ + +(define (problem plan_trial_T20190907_141928_872709) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Bowl_bar__minus_01_dot_62_bar__plus_00_dot_76_bar__minus_01_dot_53 - object + Bowl_bar__minus_01_dot_74_bar__plus_00_dot_76_bar__minus_00_dot_35 - object + Bowl_bar__minus_01_dot_85_bar__plus_00_dot_17_bar__minus_01_dot_00 - object + Box_bar__plus_00_dot_13_bar__plus_00_dot_69_bar__plus_00_dot_91 - object + CreditCard_bar__plus_00_dot_13_bar__plus_00_dot_55_bar__plus_00_dot_72 - object + CreditCard_bar__plus_01_dot_98_bar__plus_00_dot_50_bar__minus_02_dot_31 - object + FloorLamp_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_30 - object + HousePlant_bar__minus_01_dot_65_bar__plus_00_dot_75_bar__minus_01_dot_79 - object + KeyChain_bar__plus_00_dot_35_bar__plus_00_dot_55_bar__plus_00_dot_81 - object + KeyChain_bar__minus_01_dot_78_bar__plus_00_dot_17_bar__minus_00_dot_39 - object + Laptop_bar__minus_00_dot_27_bar__plus_00_dot_47_bar__minus_01_dot_18 - object + Laptop_bar__minus_01_dot_73_bar__plus_00_dot_75_bar__minus_00_dot_70 - object + LightSwitch_bar__plus_01_dot_41_bar__plus_01_dot_29_bar__plus_01_dot_65 - object + Painting_bar__plus_00_dot_17_bar__plus_01_dot_78_bar__plus_01_dot_93 - object + Pillow_bar__plus_00_dot_79_bar__plus_00_dot_61_bar__plus_00_dot_91 - object + Pillow_bar__minus_00_dot_50_bar__plus_00_dot_59_bar__plus_00_dot_96 - object + RemoteControl_bar__plus_00_dot_49_bar__plus_00_dot_48_bar__minus_01_dot_00 - object + Statue_bar__plus_00_dot_19_bar__plus_00_dot_49_bar__minus_01_dot_06 - object + Statue_bar__plus_00_dot_49_bar__plus_00_dot_58_bar__minus_01_dot_18 - object + Statue_bar__minus_01_dot_80_bar__plus_01_dot_32_bar__minus_02_dot_47 - object + Television_bar__minus_00_dot_01_bar__plus_01_dot_23_bar__minus_02_dot_44 - object + Vase_bar__plus_00_dot_01_bar__plus_00_dot_17_bar__minus_02_dot_26 - object + Vase_bar__minus_00_dot_45_bar__plus_00_dot_76_bar__minus_02_dot_47 - object + Vase_bar__minus_01_dot_59_bar__plus_00_dot_17_bar__minus_00_dot_53 - object + Vase_bar__minus_01_dot_68_bar__plus_00_dot_76_bar__minus_01_dot_06 - object + Window_bar__plus_00_dot_79_bar__plus_01_dot_54_bar__minus_02_dot_72 - object + Window_bar__minus_00_dot_82_bar__plus_01_dot_54_bar__minus_02_dot_72 - object + ArmChair_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_02_dot_02 - receptacle + CoffeeTable_bar__plus_00_dot_02_bar_00_dot_00_bar__minus_01_dot_11 - receptacle + GarbageCan_bar__plus_00_dot_74_bar__plus_00_dot_00_bar__minus_02_dot_53 - receptacle + Shelf_bar__plus_00_dot_36_bar__plus_00_dot_17_bar__minus_02_dot_24 - receptacle + Shelf_bar__plus_00_dot_36_bar__plus_00_dot_41_bar__minus_02_dot_24 - receptacle + Shelf_bar__plus_00_dot_36_bar__plus_00_dot_56_bar__minus_02_dot_28 - receptacle + Shelf_bar__minus_00_dot_01_bar__plus_00_dot_17_bar__minus_02_dot_39 - receptacle + Shelf_bar__minus_00_dot_38_bar__plus_00_dot_17_bar__minus_02_dot_23 - receptacle + Shelf_bar__minus_00_dot_38_bar__plus_00_dot_47_bar__minus_02_dot_25 - receptacle + Shelf_bar__minus_01_dot_63_bar__plus_00_dot_16_bar__minus_01_dot_62 - receptacle + Shelf_bar__minus_01_dot_64_bar__plus_00_dot_41_bar__minus_01_dot_62 - receptacle + Shelf_bar__minus_01_dot_64_bar__plus_00_dot_47_bar__minus_00_dot_46 - receptacle + Shelf_bar__minus_01_dot_64_bar__plus_00_dot_56_bar__minus_01_dot_62 - receptacle + Shelf_bar__minus_01_dot_66_bar__plus_00_dot_16_bar__minus_00_dot_46 - receptacle + Shelf_bar__minus_01_dot_74_bar__plus_00_dot_16_bar__minus_01_dot_05 - receptacle + Shelf_bar__minus_01_dot_83_bar__plus_01_dot_32_bar__minus_02_dot_41 - receptacle + Shelf_bar__minus_01_dot_83_bar__plus_01_dot_61_bar__minus_02_dot_41 - receptacle + Sofa_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_19 - receptacle + TVStand_bar__plus_00_dot_00_bar__plus_00_dot_00_bar__minus_02_dot_39 - receptacle + TVStand_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__minus_01_dot_06 - receptacle + loc_bar_4_bar__minus_6_bar_3_bar_60 - location + loc_bar_1_bar__minus_2_bar_0_bar_45 - location + loc_bar__minus_4_bar__minus_3_bar_3_bar_60 - location + loc_bar__minus_3_bar__minus_6_bar_2_bar_60 - location + loc_bar_5_bar__minus_8_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_7_bar_3_bar_45 - location + loc_bar__minus_1_bar__minus_7_bar_3_bar_45 - location + loc_bar_4_bar__minus_5_bar_2_bar_60 - location + loc_bar__minus_3_bar__minus_7_bar_3_bar_0 - location + loc_bar__minus_4_bar__minus_5_bar_2_bar_60 - location + loc_bar_5_bar__minus_9_bar_3_bar_60 - location + loc_bar__minus_3_bar_0_bar_3_bar_60 - location + loc_bar__minus_3_bar__minus_3_bar_3_bar_60 - location + loc_bar__minus_4_bar__minus_8_bar_2_bar_15 - location + loc_bar__minus_4_bar__minus_8_bar_3_bar_15 - location + loc_bar_4_bar__minus_5_bar_2_bar_45 - location + loc_bar_4_bar__minus_4_bar_2_bar_45 - location + loc_bar__minus_3_bar__minus_7_bar_3_bar_60 - location + loc_bar_7_bar_4_bar_0_bar_30 - location + loc_bar__minus_2_bar_0_bar_3_bar_45 - location + loc_bar_5_bar__minus_6_bar_3_bar_60 - location + loc_bar_1_bar_1_bar_0_bar_0 - location + loc_bar__minus_6_bar_2_bar_0_bar_60 - location + loc_bar_5_bar__minus_9_bar_2_bar_15 - location + loc_bar_1_bar__minus_7_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Shelf_bar__plus_00_dot_36_bar__plus_00_dot_41_bar__minus_02_dot_24 ShelfType) + (receptacleType TVStand_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__minus_01_dot_06 TVStandType) + (receptacleType Shelf_bar__minus_01_dot_83_bar__plus_01_dot_32_bar__minus_02_dot_41 ShelfType) + (receptacleType Shelf_bar__minus_00_dot_38_bar__plus_00_dot_17_bar__minus_02_dot_23 ShelfType) + (receptacleType ArmChair_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_02_dot_02 ArmChairType) + (receptacleType Shelf_bar__minus_01_dot_63_bar__plus_00_dot_16_bar__minus_01_dot_62 ShelfType) + (receptacleType Sofa_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_19 SofaType) + (receptacleType CoffeeTable_bar__plus_00_dot_02_bar_00_dot_00_bar__minus_01_dot_11 CoffeeTableType) + (receptacleType Shelf_bar__minus_01_dot_64_bar__plus_00_dot_47_bar__minus_00_dot_46 ShelfType) + (receptacleType Shelf_bar__plus_00_dot_36_bar__plus_00_dot_56_bar__minus_02_dot_28 ShelfType) + (receptacleType Shelf_bar__minus_01_dot_83_bar__plus_01_dot_61_bar__minus_02_dot_41 ShelfType) + (receptacleType Shelf_bar__plus_00_dot_36_bar__plus_00_dot_17_bar__minus_02_dot_24 ShelfType) + (receptacleType Shelf_bar__minus_01_dot_64_bar__plus_00_dot_56_bar__minus_01_dot_62 ShelfType) + (receptacleType Shelf_bar__minus_01_dot_64_bar__plus_00_dot_41_bar__minus_01_dot_62 ShelfType) + (receptacleType Shelf_bar__minus_00_dot_01_bar__plus_00_dot_17_bar__minus_02_dot_39 ShelfType) + (receptacleType TVStand_bar__plus_00_dot_00_bar__plus_00_dot_00_bar__minus_02_dot_39 TVStandType) + (receptacleType Shelf_bar__minus_01_dot_74_bar__plus_00_dot_16_bar__minus_01_dot_05 ShelfType) + (receptacleType GarbageCan_bar__plus_00_dot_74_bar__plus_00_dot_00_bar__minus_02_dot_53 GarbageCanType) + (receptacleType Shelf_bar__minus_01_dot_66_bar__plus_00_dot_16_bar__minus_00_dot_46 ShelfType) + (receptacleType Shelf_bar__minus_00_dot_38_bar__plus_00_dot_47_bar__minus_02_dot_25 ShelfType) + (objectType Box_bar__plus_00_dot_13_bar__plus_00_dot_69_bar__plus_00_dot_91 BoxType) + (objectType HousePlant_bar__minus_01_dot_65_bar__plus_00_dot_75_bar__minus_01_dot_79 HousePlantType) + (objectType Statue_bar__minus_01_dot_80_bar__plus_01_dot_32_bar__minus_02_dot_47 StatueType) + (objectType Statue_bar__plus_00_dot_19_bar__plus_00_dot_49_bar__minus_01_dot_06 StatueType) + (objectType CreditCard_bar__plus_01_dot_98_bar__plus_00_dot_50_bar__minus_02_dot_31 CreditCardType) + (objectType Statue_bar__plus_00_dot_49_bar__plus_00_dot_58_bar__minus_01_dot_18 StatueType) + (objectType Painting_bar__plus_00_dot_17_bar__plus_01_dot_78_bar__plus_01_dot_93 PaintingType) + (objectType Laptop_bar__minus_00_dot_27_bar__plus_00_dot_47_bar__minus_01_dot_18 LaptopType) + (objectType CreditCard_bar__plus_00_dot_13_bar__plus_00_dot_55_bar__plus_00_dot_72 CreditCardType) + (objectType Pillow_bar__plus_00_dot_79_bar__plus_00_dot_61_bar__plus_00_dot_91 PillowType) + (objectType Window_bar__minus_00_dot_82_bar__plus_01_dot_54_bar__minus_02_dot_72 WindowType) + (objectType Bowl_bar__minus_01_dot_62_bar__plus_00_dot_76_bar__minus_01_dot_53 BowlType) + (objectType RemoteControl_bar__plus_00_dot_49_bar__plus_00_dot_48_bar__minus_01_dot_00 RemoteControlType) + (objectType Pillow_bar__minus_00_dot_50_bar__plus_00_dot_59_bar__plus_00_dot_96 PillowType) + (objectType Television_bar__minus_00_dot_01_bar__plus_01_dot_23_bar__minus_02_dot_44 TelevisionType) + (objectType Laptop_bar__minus_01_dot_73_bar__plus_00_dot_75_bar__minus_00_dot_70 LaptopType) + (objectType FloorLamp_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_30 FloorLampType) + (objectType LightSwitch_bar__plus_01_dot_41_bar__plus_01_dot_29_bar__plus_01_dot_65 LightSwitchType) + (objectType Window_bar__plus_00_dot_79_bar__plus_01_dot_54_bar__minus_02_dot_72 WindowType) + (objectType Bowl_bar__minus_01_dot_85_bar__plus_00_dot_17_bar__minus_01_dot_00 BowlType) + (objectType Vase_bar__minus_01_dot_68_bar__plus_00_dot_76_bar__minus_01_dot_06 VaseType) + (objectType KeyChain_bar__minus_01_dot_78_bar__plus_00_dot_17_bar__minus_00_dot_39 KeyChainType) + (objectType Bowl_bar__minus_01_dot_74_bar__plus_00_dot_76_bar__minus_00_dot_35 BowlType) + (objectType KeyChain_bar__plus_00_dot_35_bar__plus_00_dot_55_bar__plus_00_dot_81 KeyChainType) + (objectType Vase_bar__minus_00_dot_45_bar__plus_00_dot_76_bar__minus_02_dot_47 VaseType) + (objectType Vase_bar__plus_00_dot_01_bar__plus_00_dot_17_bar__minus_02_dot_26 VaseType) + (objectType Vase_bar__minus_01_dot_59_bar__plus_00_dot_17_bar__minus_00_dot_53 VaseType) + (canContain ShelfType BowlType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain ShelfType BowlType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain ShelfType BowlType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain ShelfType BowlType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType CreditCardType) + (canContain CoffeeTableType BowlType) + (canContain CoffeeTableType VaseType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType StatueType) + (canContain ShelfType BowlType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain ShelfType BowlType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType 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(isReceptacleObject Bowl_bar__minus_01_dot_62_bar__plus_00_dot_76_bar__minus_01_dot_53) + (isReceptacleObject Bowl_bar__minus_01_dot_85_bar__plus_00_dot_17_bar__minus_01_dot_00) + (isReceptacleObject Bowl_bar__minus_01_dot_74_bar__plus_00_dot_76_bar__minus_00_dot_35) + + + (atLocation agent1 loc_bar_1_bar__minus_7_bar_2_bar_30) + + (cleanable Bowl_bar__minus_01_dot_62_bar__plus_00_dot_76_bar__minus_01_dot_53) + (cleanable Bowl_bar__minus_01_dot_85_bar__plus_00_dot_17_bar__minus_01_dot_00) + (cleanable Bowl_bar__minus_01_dot_74_bar__plus_00_dot_76_bar__minus_00_dot_35) + + + (coolable Bowl_bar__minus_01_dot_62_bar__plus_00_dot_76_bar__minus_01_dot_53) + (coolable Bowl_bar__minus_01_dot_85_bar__plus_00_dot_17_bar__minus_01_dot_00) + (coolable Bowl_bar__minus_01_dot_74_bar__plus_00_dot_76_bar__minus_00_dot_35) + + + (toggleable FloorLamp_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_30) + + + + + (inReceptacle Bowl_bar__minus_01_dot_74_bar__plus_00_dot_76_bar__minus_00_dot_35 TVStand_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__minus_01_dot_06) + (inReceptacle HousePlant_bar__minus_01_dot_65_bar__plus_00_dot_75_bar__minus_01_dot_79 TVStand_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__minus_01_dot_06) + (inReceptacle Vase_bar__minus_01_dot_68_bar__plus_00_dot_76_bar__minus_01_dot_06 TVStand_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__minus_01_dot_06) + (inReceptacle Laptop_bar__minus_01_dot_73_bar__plus_00_dot_75_bar__minus_00_dot_70 TVStand_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__minus_01_dot_06) + (inReceptacle Bowl_bar__minus_01_dot_62_bar__plus_00_dot_76_bar__minus_01_dot_53 TVStand_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__minus_01_dot_06) + (inReceptacle Bowl_bar__minus_01_dot_85_bar__plus_00_dot_17_bar__minus_01_dot_00 Shelf_bar__minus_01_dot_74_bar__plus_00_dot_16_bar__minus_01_dot_05) + (inReceptacle Statue_bar__plus_00_dot_19_bar__plus_00_dot_49_bar__minus_01_dot_06 CoffeeTable_bar__plus_00_dot_02_bar_00_dot_00_bar__minus_01_dot_11) + (inReceptacle Laptop_bar__minus_00_dot_27_bar__plus_00_dot_47_bar__minus_01_dot_18 CoffeeTable_bar__plus_00_dot_02_bar_00_dot_00_bar__minus_01_dot_11) + (inReceptacle Statue_bar__plus_00_dot_49_bar__plus_00_dot_58_bar__minus_01_dot_18 CoffeeTable_bar__plus_00_dot_02_bar_00_dot_00_bar__minus_01_dot_11) + (inReceptacle RemoteControl_bar__plus_00_dot_49_bar__plus_00_dot_48_bar__minus_01_dot_00 CoffeeTable_bar__plus_00_dot_02_bar_00_dot_00_bar__minus_01_dot_11) + (inReceptacle Statue_bar__minus_01_dot_80_bar__plus_01_dot_32_bar__minus_02_dot_47 Shelf_bar__minus_01_dot_83_bar__plus_01_dot_32_bar__minus_02_dot_41) + (inReceptacle Vase_bar__minus_01_dot_59_bar__plus_00_dot_17_bar__minus_00_dot_53 Shelf_bar__minus_01_dot_66_bar__plus_00_dot_16_bar__minus_00_dot_46) + (inReceptacle KeyChain_bar__minus_01_dot_78_bar__plus_00_dot_17_bar__minus_00_dot_39 Shelf_bar__minus_01_dot_66_bar__plus_00_dot_16_bar__minus_00_dot_46) + (inReceptacle Box_bar__plus_00_dot_13_bar__plus_00_dot_69_bar__plus_00_dot_91 Sofa_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_19) + (inReceptacle Pillow_bar__minus_00_dot_50_bar__plus_00_dot_59_bar__plus_00_dot_96 Sofa_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_19) + (inReceptacle KeyChain_bar__plus_00_dot_35_bar__plus_00_dot_55_bar__plus_00_dot_81 Sofa_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_19) + (inReceptacle CreditCard_bar__plus_00_dot_13_bar__plus_00_dot_55_bar__plus_00_dot_72 Sofa_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_19) + (inReceptacle Pillow_bar__plus_00_dot_79_bar__plus_00_dot_61_bar__plus_00_dot_91 Sofa_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_19) + (inReceptacle CreditCard_bar__plus_01_dot_98_bar__plus_00_dot_50_bar__minus_02_dot_31 ArmChair_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_02_dot_02) + (inReceptacle Vase_bar__plus_00_dot_01_bar__plus_00_dot_17_bar__minus_02_dot_26 Shelf_bar__minus_00_dot_01_bar__plus_00_dot_17_bar__minus_02_dot_39) + (inReceptacle Vase_bar__minus_00_dot_45_bar__plus_00_dot_76_bar__minus_02_dot_47 TVStand_bar__plus_00_dot_00_bar__plus_00_dot_00_bar__minus_02_dot_39) + (inReceptacle Television_bar__minus_00_dot_01_bar__plus_01_dot_23_bar__minus_02_dot_44 TVStand_bar__plus_00_dot_00_bar__plus_00_dot_00_bar__minus_02_dot_39) + + + (receptacleAtLocation ArmChair_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_02_dot_02 loc_bar_5_bar__minus_8_bar_1_bar_60) + (receptacleAtLocation CoffeeTable_bar__plus_00_dot_02_bar_00_dot_00_bar__minus_01_dot_11 loc_bar_5_bar__minus_6_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_00_dot_74_bar__plus_00_dot_00_bar__minus_02_dot_53 loc_bar_5_bar__minus_9_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__plus_00_dot_36_bar__plus_00_dot_17_bar__minus_02_dot_24 loc_bar_4_bar__minus_5_bar_2_bar_60) + (receptacleAtLocation Shelf_bar__plus_00_dot_36_bar__plus_00_dot_41_bar__minus_02_dot_24 loc_bar_4_bar__minus_5_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__plus_00_dot_36_bar__plus_00_dot_56_bar__minus_02_dot_28 loc_bar_4_bar__minus_4_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__minus_00_dot_01_bar__plus_00_dot_17_bar__minus_02_dot_39 loc_bar_4_bar__minus_6_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_38_bar__plus_00_dot_17_bar__minus_02_dot_23 loc_bar__minus_4_bar__minus_5_bar_2_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_38_bar__plus_00_dot_47_bar__minus_02_dot_25 loc_bar__minus_3_bar__minus_6_bar_2_bar_60) + (receptacleAtLocation Shelf_bar__minus_01_dot_63_bar__plus_00_dot_16_bar__minus_01_dot_62 loc_bar__minus_1_bar__minus_7_bar_3_bar_45) + (receptacleAtLocation Shelf_bar__minus_01_dot_64_bar__plus_00_dot_41_bar__minus_01_dot_62 loc_bar__minus_3_bar__minus_7_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_01_dot_64_bar__plus_00_dot_47_bar__minus_00_dot_46 loc_bar__minus_3_bar_0_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_01_dot_64_bar__plus_00_dot_56_bar__minus_01_dot_62 loc_bar__minus_2_bar__minus_7_bar_3_bar_45) + (receptacleAtLocation Shelf_bar__minus_01_dot_66_bar__plus_00_dot_16_bar__minus_00_dot_46 loc_bar__minus_2_bar_0_bar_3_bar_45) + (receptacleAtLocation Shelf_bar__minus_01_dot_74_bar__plus_00_dot_16_bar__minus_01_dot_05 loc_bar__minus_3_bar__minus_3_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_01_dot_83_bar__plus_01_dot_32_bar__minus_02_dot_41 loc_bar__minus_4_bar__minus_8_bar_3_bar_15) + (receptacleAtLocation Shelf_bar__minus_01_dot_83_bar__plus_01_dot_61_bar__minus_02_dot_41 loc_bar__minus_3_bar__minus_7_bar_3_bar_0) + (receptacleAtLocation Sofa_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_19 loc_bar_1_bar__minus_2_bar_0_bar_45) + (receptacleAtLocation TVStand_bar__plus_00_dot_00_bar__plus_00_dot_00_bar__minus_02_dot_39 loc_bar_5_bar__minus_9_bar_3_bar_60) + (receptacleAtLocation TVStand_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__minus_01_dot_06 loc_bar__minus_4_bar__minus_3_bar_3_bar_60) + (objectAtLocation CreditCard_bar__plus_01_dot_98_bar__plus_00_dot_50_bar__minus_02_dot_31 loc_bar_5_bar__minus_8_bar_1_bar_60) + (objectAtLocation Laptop_bar__minus_01_dot_73_bar__plus_00_dot_75_bar__minus_00_dot_70 loc_bar__minus_4_bar__minus_3_bar_3_bar_60) + (objectAtLocation Pillow_bar__minus_00_dot_50_bar__plus_00_dot_59_bar__plus_00_dot_96 loc_bar_1_bar__minus_2_bar_0_bar_45) + (objectAtLocation KeyChain_bar__minus_01_dot_78_bar__plus_00_dot_17_bar__minus_00_dot_39 loc_bar__minus_2_bar_0_bar_3_bar_45) + (objectAtLocation Bowl_bar__minus_01_dot_74_bar__plus_00_dot_76_bar__minus_00_dot_35 loc_bar__minus_4_bar__minus_3_bar_3_bar_60) + (objectAtLocation Bowl_bar__minus_01_dot_62_bar__plus_00_dot_76_bar__minus_01_dot_53 loc_bar__minus_4_bar__minus_3_bar_3_bar_60) + (objectAtLocation Box_bar__plus_00_dot_13_bar__plus_00_dot_69_bar__plus_00_dot_91 loc_bar_1_bar__minus_2_bar_0_bar_45) + (objectAtLocation Painting_bar__plus_00_dot_17_bar__plus_01_dot_78_bar__plus_01_dot_93 loc_bar_1_bar_1_bar_0_bar_0) + (objectAtLocation HousePlant_bar__minus_01_dot_65_bar__plus_00_dot_75_bar__minus_01_dot_79 loc_bar__minus_4_bar__minus_3_bar_3_bar_60) + (objectAtLocation Bowl_bar__minus_01_dot_85_bar__plus_00_dot_17_bar__minus_01_dot_00 loc_bar__minus_3_bar__minus_3_bar_3_bar_60) + (objectAtLocation LightSwitch_bar__plus_01_dot_41_bar__plus_01_dot_29_bar__plus_01_dot_65 loc_bar_7_bar_4_bar_0_bar_30) + (objectAtLocation KeyChain_bar__plus_00_dot_35_bar__plus_00_dot_55_bar__plus_00_dot_81 loc_bar_1_bar__minus_2_bar_0_bar_45) + (objectAtLocation Television_bar__minus_00_dot_01_bar__plus_01_dot_23_bar__minus_02_dot_44 loc_bar_5_bar__minus_9_bar_3_bar_60) + (objectAtLocation Vase_bar__minus_01_dot_59_bar__plus_00_dot_17_bar__minus_00_dot_53 loc_bar__minus_2_bar_0_bar_3_bar_45) + (objectAtLocation Statue_bar__minus_01_dot_80_bar__plus_01_dot_32_bar__minus_02_dot_47 loc_bar__minus_4_bar__minus_8_bar_3_bar_15) + (objectAtLocation Pillow_bar__plus_00_dot_79_bar__plus_00_dot_61_bar__plus_00_dot_91 loc_bar_1_bar__minus_2_bar_0_bar_45) + (objectAtLocation Laptop_bar__minus_00_dot_27_bar__plus_00_dot_47_bar__minus_01_dot_18 loc_bar_5_bar__minus_6_bar_3_bar_60) + (objectAtLocation Vase_bar__minus_01_dot_68_bar__plus_00_dot_76_bar__minus_01_dot_06 loc_bar__minus_4_bar__minus_3_bar_3_bar_60) + (objectAtLocation Statue_bar__plus_00_dot_49_bar__plus_00_dot_58_bar__minus_01_dot_18 loc_bar_5_bar__minus_6_bar_3_bar_60) + (objectAtLocation RemoteControl_bar__plus_00_dot_49_bar__plus_00_dot_48_bar__minus_01_dot_00 loc_bar_5_bar__minus_6_bar_3_bar_60) + (objectAtLocation FloorLamp_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_30 loc_bar__minus_6_bar_2_bar_0_bar_60) + (objectAtLocation Vase_bar__plus_00_dot_01_bar__plus_00_dot_17_bar__minus_02_dot_26 loc_bar_4_bar__minus_6_bar_3_bar_60) + (objectAtLocation CreditCard_bar__plus_00_dot_13_bar__plus_00_dot_55_bar__plus_00_dot_72 loc_bar_1_bar__minus_2_bar_0_bar_45) + (objectAtLocation Vase_bar__minus_00_dot_45_bar__plus_00_dot_76_bar__minus_02_dot_47 loc_bar_5_bar__minus_9_bar_3_bar_60) + (objectAtLocation Window_bar__minus_00_dot_82_bar__plus_01_dot_54_bar__minus_02_dot_72 loc_bar__minus_4_bar__minus_8_bar_2_bar_15) + (objectAtLocation Window_bar__plus_00_dot_79_bar__plus_01_dot_54_bar__minus_02_dot_72 loc_bar_5_bar__minus_9_bar_2_bar_15) + (objectAtLocation Statue_bar__plus_00_dot_19_bar__plus_00_dot_49_bar__minus_01_dot_06 loc_bar_5_bar__minus_6_bar_3_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (and + (receptacleType ?r ArmChairType) + (exists (?o - object) + (and + (objectType ?o CreditCardType) + (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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}, + { + "objectName": "Vase_22f64199", + "position": { + "x": -0.4519089, + "y": 0.7607825, + "z": -2.47287464 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_685d2a36", + "position": { + "x": 0.185853645, + "y": 0.487443864, + "z": -1.0579356 + }, + "rotation": { + "x": 0.0, + "y": 179.999664, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3419487382, + "scene_num": 206 + }, + "task_id": "trial_T20190907_141928_872709", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AWEPZMK7825JQ_3FE7TXL1LL4K360PKQ4GHLHMOW2Q20", + "high_descs": [ + "Turn left and walk towards the chair, then left again and walk to the couch and turn to face it.", + "Pick up the credit card that is on the couch.", + "Put the credit card inside the box that is on the couch.", + "Pick up the box with the credit card inside.", + "Turn around and walk towards the wall, then turn left and walk to the chair.", + "Put the box on the chair." + ], + "task_desc": "Put a cardboard box with a credit card inside it onto the chair.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AD0NVUGLDYDYN_3KXIR214I7XDE1DRMTX3EIGHS4542H", + "high_descs": [ + "turn left, turn left, walk around the coffee table to the sofa", + "grab the credit card from the sofa", + "put the credit card in the box on the sofa", + "grab the box with the credit card in it", + "turn right, turn right, walk to the sofa chair", + "put the box down on the the sofa chair" + ], + "task_desc": "put the credit card in the box, move them to the sofa chair", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3PPLDHC3CG0YN_33FOTY3KEP29KK8AW437SXI0SFTC1E", + "high_descs": [ + "Turn left and walk around the coffee table to the couch and stand in front of the open box on the couch. ", + "Pick up the credit card in front of the box. ", + "Put the credit card inside of the box. ", + "Pick up the box next to the keys. ", + "Turn right and walk to the blue chair to the left of the television and face the chair. ", + "Put the box down onto the chair next to the credit card on the chair. " + ], + "task_desc": "To move credit cards to the same area of the room. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1RLO9LNUJIW5S_39N5ACM9HH4A3EK95M46R3ZQPA39P5", + "high_descs": [ + "Turn left and take a step then turn left and walk to the box you can see on the couch in front of you.", + "Pick up the credit card that's under the box. ", + "Put the credit card in the box.", + "Pick up the box with the credit card in it.", + "Turn right and walk to the edge of the couch on your left then turn right and walk to the wall then turn left and walk to the chair.", + "Put the box on the cushion." + ], + "task_desc": "Put a box with a credit card in it on the chair.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A36DK84J5YJ942_3A9AA95ATZ3R2RIX2WRPFNUO3GP5PJ", + "high_descs": [ + "Move to the the couch ahead of you", + "PIck up the card from the couch", + "Place the card in the box on the couch", + "Pick up the box from the couch", + "Move to the arm chair to the left of the TV", + "place the box on the chair" + ], + "task_desc": "Put a box with a card inside on the arm chair to the left of the TV.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3PPLDHC3CG0YN_3DQQ64TANJ2LFAXHYXEY5N71N7LPW0", + "high_descs": [ + "Turn and walk to the front of the couch, and stand in front of the open box. ", + "Pick up the credit card that's in front of the box. ", + "Put the credit card inside of the box. ", + "Pick up the box with the credit card in it. ", + "Turn around and walk to the blue chair on the left that has a credit card on it. ", + "Put the box down on the chair next to the credit card. " + ], + "task_desc": "To put credit cards together in the same area. ", + "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-PotatoSliced-Pot-Fridge-1/trial_T20190908_130051_938156/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-PotatoSliced-Pot-Fridge-1/trial_T20190908_130051_938156/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..a21e01b3ccae9890c837bd0efe54760083228927 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-PotatoSliced-Pot-Fridge-1/trial_T20190908_130051_938156/initial_state.pddl @@ -0,0 +1,1284 @@ + +(define (problem plan_trial_T20190908_130051_938156) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_58_bar__plus_00_dot_96_bar__minus_02_dot_64 - object + Apple_bar__minus_02_dot_00_bar__plus_01_dot_55_bar__plus_01_dot_09 - object + Apple_bar__minus_02_dot_04_bar__plus_01_dot_55_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_00_dot_39_bar__plus_00_dot_14_bar__minus_02_dot_44 - object + Bread_bar__plus_00_dot_08_bar__plus_01_dot_18_bar__plus_00_dot_25 - object + Bread_bar__plus_00_dot_36_bar__plus_01_dot_18_bar__plus_00_dot_25 - object + Bread_bar__minus_00_dot_52_bar__plus_01_dot_17_bar__minus_00_dot_03 - object + ButterKnife_bar__plus_00_dot_89_bar__plus_00_dot_14_bar__minus_02_dot_38 - object + ButterKnife_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__minus_00_dot_76 - object + ButterKnife_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__minus_00_dot_51 - 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_50 - object + 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CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle Knife_bar__plus_00_dot_08_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 Bread_bar__plus_00_dot_36_bar__plus_01_dot_18_bar__plus_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 WineBottle_bar__minus_00_dot_06_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 Egg_bar__plus_00_dot_32_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 Apple_bar__plus_00_dot_58_bar__plus_00_dot_96_bar__minus_02_dot_64 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48) + (inReceptacle Kettle_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 DishSponge_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_02_dot_41 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48) + (inReceptacle SaltShaker_bar__plus_00_dot_84_bar__plus_00_dot_31_bar__minus_02_dot_33 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_39_bar__minus_02_dot_20) + (inReceptacle Spoon_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 CreditCard_bar__plus_00_dot_78_bar__plus_00_dot_64_bar__minus_02_dot_50 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_71_bar__minus_02_dot_20) + (inReceptacle CreditCard_bar__plus_00_dot_89_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 CreditCard_bar__plus_01_dot_01_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 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 Mug_bar__minus_01_dot_07_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_78_bar__plus_00_dot_48_bar__minus_00_dot_20 Drawer_bar__minus_01_dot_56_bar__plus_00_dot_66_bar__minus_00_dot_20) + (inReceptacle Bowl_bar__plus_00_dot_39_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 Vase_bar__minus_01_dot_30_bar__plus_00_dot_13_bar__minus_02_dot_45 Cabinet_bar__minus_01_dot_18_bar__plus_00_dot_50_bar__minus_02_dot_20) + (inReceptacle Glassbottle_bar__minus_00_dot_91_bar__plus_00_dot_14_bar__minus_02_dot_30 Cabinet_bar__minus_01_dot_18_bar__plus_00_dot_50_bar__minus_02_dot_20) + (inReceptacle WineBottle_bar__minus_00_dot_82_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 PepperShaker_bar__plus_01_dot_01_bar__plus_00_dot_14_bar__minus_02_dot_24 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_22_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 Plate_bar__plus_00_dot_51_bar__plus_01_dot_66_bar__minus_02_dot_60 Cabinet_bar__plus_00_dot_68_bar__plus_02_dot_02_bar__minus_02_dot_46) + (inReceptacle 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 Statue_bar__minus_01_dot_00_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 Potato_bar__minus_01_dot_77_bar__plus_00_dot_94_bar__minus_00_dot_51 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle Knife_bar__minus_02_dot_02_bar__plus_00_dot_94_bar__minus_00_dot_70 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 Pan_bar__minus_01_dot_86_bar__plus_00_dot_91_bar__minus_00_dot_70 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle Lettuce_bar__minus_01_dot_14_bar__plus_00_dot_99_bar__minus_02_dot_41 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 PaperTowelRoll_bar__plus_01_dot_48_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 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) + (inReceptacle SoapBottle_bar__minus_01_dot_99_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 DishSponge_bar__minus_01_dot_91_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 Egg_bar__minus_01_dot_88_bar__plus_00_dot_08_bar__plus_01_dot_98 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_34 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_00_dot_84 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09) + (inReceptacle Apple_bar__minus_02_dot_00_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 Egg_bar__minus_02_dot_04_bar__plus_00_dot_26_bar__plus_01_dot_33 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_00_dot_92 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09) + (inReceptacle Pan_bar__minus_02_dot_07_bar__plus_01_dot_31_bar__plus_01_dot_01 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 Spatula_bar__minus_01_dot_91_bar__plus_00_dot_78_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_85_bar__plus_00_dot_80_bar__minus_01_dot_59 Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin) + (inReceptacle Fork_bar__minus_01_dot_96_bar__plus_00_dot_77_bar__minus_01_dot_59 Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin) + (inReceptacle Spoon_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__minus_01_dot_76 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 loc_bar__minus_3_bar__minus_6_bar_3_bar_60) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (objectAtLocation Spoon_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) + (objectAtLocation DishSponge_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_02_dot_41 loc_bar_3_bar__minus_7_bar_2_bar_45) + (objectAtLocation Apple_bar__plus_00_dot_58_bar__plus_00_dot_96_bar__minus_02_dot_64 loc_bar_3_bar__minus_7_bar_2_bar_45) + (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) + (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) + (objectAtLocation Cup_bar__plus_00_dot_08_bar__plus_01_dot_11_bar__minus_00_dot_25 loc_bar_3_bar_0_bar_3_bar_30) + (objectAtLocation Spatula_bar__minus_01_dot_91_bar__plus_00_dot_78_bar__minus_01_dot_41 loc_bar__minus_5_bar__minus_6_bar_3_bar_60) + (objectAtLocation Pot_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) + (objectAtLocation WineBottle_bar__minus_00_dot_06_bar__plus_01_dot_11_bar_00_dot_00 loc_bar_3_bar_0_bar_3_bar_30) + (objectAtLocation CreditCard_bar__plus_00_dot_89_bar__plus_00_dot_48_bar__minus_02_dot_33 loc_bar_2_bar__minus_5_bar_2_bar_45) + (objectAtLocation Egg_bar__minus_01_dot_88_bar__plus_00_dot_08_bar__plus_01_dot_98 loc_bar__minus_5_bar_7_bar_3_bar_60) + 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"position": { + "x": -1.88044894, + "y": 0.0831761956, + "z": 1.98115826 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_01a9d33b", + "position": { + "x": 0.893638134, + "y": 0.478232384, + "z": -2.331442 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_1a4cbefa", + "position": { + "x": -0.9956643, + "y": 0.910197, + "z": -2.406642 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "WineBottle_c21bc5e7", + "position": { + "x": -0.059099853, + "y": 1.1125288, + "z": -0.00100004673 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pot_9e34d9fc", + "position": { + "x": -0.0361, + "y": 0.950499952, + "z": -2.3722 + }, + "rotation": { + "x": 0.0, + "y": 270.000061, + "z": 0.0 + } + }, + { + "objectName": "Spatula_1e920a81", + "position": { + "x": -1.90809989, + "y": 0.784756, + "z": -1.41488659 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "PaperTowelRoll_2c38299b", + "position": { + "x": 1.47836769, + "y": 0.657343864, + "z": -2.40757751 + }, + "rotation": { + "x": -3.41504619e-06, + "y": 180.00032, + "z": -1.70754829e-05 + } + }, + { + "objectName": "Cup_77fad61b", + "position": { + "x": 0.0790954158, + "y": 1.10948181, + "z": -0.253773928 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Vase_5ffb3206", + "position": { + "x": -1.29622293, + "y": 0.134699583, + "z": -2.45315886 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_9960ee75", + "position": { + "x": 0.393203825, + "y": 0.1372633, + "z": -2.43612647 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_b714915a", + "position": { + "x": 0.8364754, + "y": 0.3115425, + "z": -2.33486843 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_816f44ce", + "position": { + "x": 1.00710142, + "y": 0.138847113, + "z": -2.2378335 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_e166a32f", + "position": { + "x": -1.80697572, + "y": 0.973762, + "z": -0.9429932 + }, + "rotation": { + "x": 359.981171, + "y": 256.771423, + "z": 5.10013024e-06 + } + }, + { + "objectName": "ButterKnife_f63cc56c", + "position": { + "x": 0.8929328, + "y": 0.142278433, + "z": -2.38279819 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_a0b666be", + "position": { + "x": 0.582687557, + "y": 0.961277664, + "z": -2.637633 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_56e11318", + "position": { + "x": 1.09816635, + "y": 0.910264254, + "z": -2.40718341 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_cd066502", + "position": { + "x": 1.06491375, + "y": 0.646888435, + "z": -2.41739941 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_b5db8038", + "position": { + "x": -1.7313, + "y": 0.956599951, + "z": -0.1689994 + }, + "rotation": { + "x": 0.0, + "y": 89.99987, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2118875116, + "scene_num": 1 + }, + "task_id": "trial_T20190908_130051_938156", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A12HZGOZQD5YK7_33JKGHPFYFLXS2DOAOK0TMKHJP1MN0", + "high_descs": [ + "Turn around and then turn right to face the marble table.", + "Pick up the knife with the yellow handle in front of the glass.", + "Turn left and head to the sink.", + "Cut the potato in the sink.", + "Put the knife in the sink to the right of the potato.", + "Pick up a slice of potato from the sink.", + "Turn right, go half way across the room and turn right to face the marble table.", + "Put the slice of potato in the pot to the right of the bread.", + "Pick up the pot with the slice of potato in it.", + "Turn left and head to the fridge.", + "Put the pot in the fridge on the top shelf." + ], + "task_desc": "Put a pot containing a slice of potato in the fridge.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "ARB8SJAWXUWTD_3B837J3LDRNL5VILNSX3EFOXCB0RSX", + "high_descs": [ + "Go to the kitchen island", + "Pick up the farther knife with the yellow handle", + "Go to the sink", + "Cut the potato in the sink", + "Put the knife in the sink", + "Take a potato slice", + "Go to the kitchen island", + "Put the potato in a pot", + "Pick up the pot", + "Go to the fridge", + "Put the pot in the fridge" + ], + "task_desc": "Put a pot with a potato slice in the fridge", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1S1K7134S2VUC_3FTYUGLFSXCQYJ15TVPBGFX1JQYD58", + "high_descs": [ + "Turn left, move to the end of the island, near the knife.", + "Pick up the knife, near the bottle, from the island.", + "Turn left, move to the counter in front of the sink.", + "Slice the potato in the sink.", + "Put the knife in the sink.", + "Pick up a slice of potato.", + "Turn right, move to the island in front of the pot.", + "Put the potato slice in the pot.", + "Pick up the pot from the island.", + "Turn left, move to in front of the refrigerator.", + "Put the pot in the refrigerator." + ], + "task_desc": "Place a slice of potato into a pot, place the pot into the refrigerator.", + "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-PotatoSliced-Pot-Fridge-1/trial_T20190908_214420_592591/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-PotatoSliced-Pot-Fridge-1/trial_T20190908_214420_592591/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..42b8c09ab0d4fa92fc4e4db70812865592ebe934 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-PotatoSliced-Pot-Fridge-1/trial_T20190908_214420_592591/initial_state.pddl @@ -0,0 +1,1255 @@ + +(define (problem plan_trial_T20190908_214420_592591) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_55 - object + Apple_bar__minus_01_dot_61_bar__plus_00_dot_96_bar__minus_00_dot_70 - object + Apple_bar__minus_02_dot_07_bar__plus_01_dot_36_bar__plus_01_dot_18 - object + Book_bar__plus_00_dot_16_bar__plus_01_dot_10_bar__plus_00_dot_62 - object + Bowl_bar__minus_02_dot_04_bar__plus_00_dot_80_bar__plus_00_dot_92 - object + Bread_bar__minus_00_dot_47_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_64 - object + ButterKnife_bar__minus_01_dot_74_bar__plus_00_dot_48_bar__minus_00_dot_20 - object + ButterKnife_bar__minus_01_dot_96_bar__plus_00_dot_77_bar__minus_01_dot_33 - 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_84_bar__plus_00_dot_91_bar__minus_02_dot_56 - object + CreditCard_bar__plus_02_dot_00_bar__plus_00_dot_55_bar__minus_02_dot_72 - object + CreditCard_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__plus_00_dot_25 - object + Cup_bar__plus_01_dot_89_bar__plus_00_dot_55_bar__minus_02_dot_51 - object + Cup_bar__plus_01_dot_89_bar__plus_00_dot_88_bar__minus_02_dot_51 - object + Cup_bar__minus_02_dot_08_bar__plus_01_dot_50_bar__plus_00_dot_93 - object + DishSponge_bar__minus_01_dot_73_bar__plus_00_dot_91_bar__minus_02_dot_56 - object + Egg_bar__minus_00_dot_06_bar__plus_01_dot_15_bar__plus_00_dot_76 - object + Egg_bar__minus_00_dot_28_bar__plus_01_dot_83_bar__minus_02_dot_45 - object + Egg_bar__minus_01_dot_85_bar__plus_00_dot_80_bar__minus_01_dot_33 - object + Faucet_bar__minus_02_dot_07_bar__plus_01_dot_13_bar__minus_01_dot_51 - object + Fork_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_48 - object + Glassbottle_bar__plus_01_dot_89_bar__plus_00_dot_55_bar__minus_02_dot_67 - object + Glassbottle_bar__minus_01_dot_71_bar__plus_00_dot_14_bar__minus_01_dot_74 - object + HousePlant_bar__minus_01_dot_95_bar__plus_00_dot_90_bar__minus_02_dot_52 - object + Kettle_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_58 - object + Kettle_bar__minus_01_dot_96_bar__plus_00_dot_77_bar__minus_01_dot_50 - object + Knife_bar__plus_00_dot_45_bar__plus_00_dot_94_bar__minus_02_dot_33 - object + Knife_bar__minus_00_dot_34_bar__plus_01_dot_14_bar__minus_00_dot_25 - object + Knife_bar__minus_01_dot_59_bar__plus_00_dot_94_bar__minus_02_dot_48 - object + Lettuce_bar__plus_01_dot_10_bar__plus_00_dot_99_bar__minus_02_dot_41 - object + Lettuce_bar__minus_02_dot_08_bar__plus_01_dot_58_bar__plus_01_dot_09 - 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 + Mug_bar__minus_01_dot_77_bar__plus_00_dot_91_bar__minus_02_dot_26 - object + Pan_bar__plus_00_dot_72_bar__plus_00_dot_90_bar__minus_02_dot_42 - object + Pan_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_58 - object + PaperTowelRoll_bar__plus_01_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_51 - object + PepperShaker_bar__minus_01_dot_76_bar__plus_00_dot_13_bar__minus_01_dot_62 - object + Plate_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__minus_00_dot_51 - object + Plate_bar__minus_01_dot_81_bar__plus_00_dot_13_bar__minus_01_dot_16 - object + Plate_bar__minus_02_dot_04_bar__plus_00_dot_54_bar__plus_01_dot_25 - object + Potato_bar__plus_00_dot_22_bar__plus_01_dot_14_bar__plus_00_dot_25 - object + Potato_bar__plus_00_dot_97_bar__plus_00_dot_94_bar__minus_02_dot_48 - object + Potato_bar__minus_01_dot_86_bar__plus_00_dot_94_bar__minus_00_dot_70 - object + Pot_bar__plus_01_dot_58_bar__plus_00_dot_56_bar__minus_02_dot_56 - object + SaltShaker_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_25 - object + SaltShaker_bar__minus_01_dot_87_bar__plus_00_dot_47_bar__minus_00_dot_10 - object + Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50 - object + SoapBottle_bar__minus_01_dot_62_bar__plus_00_dot_13_bar__plus_00_dot_16 - object + Spatula_bar__plus_01_dot_12_bar__plus_00_dot_16_bar__minus_02_dot_29 - object + Spoon_bar__plus_00_dot_08_bar__plus_01_dot_11_bar__minus_00_dot_51 - object + Spoon_bar__minus_01_dot_44_bar__plus_00_dot_91_bar__minus_02_dot_48 - object + Statue_bar__minus_00_dot_34_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_00_dot_84_bar__plus_00_dot_95_bar__minus_02_dot_71 - object + Tomato_bar__minus_01_dot_80_bar__plus_00_dot_81_bar__minus_01_dot_67 - object + Vase_bar__plus_02_dot_04_bar__plus_00_dot_54_bar__minus_02_dot_50 - object + Vase_bar__minus_01_dot_01_bar__plus_01_dot_65_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__minus_01_dot_91_bar__plus_00_dot_05_bar__plus_01_dot_93 - object + WineBottle_bar__minus_01_dot_91_bar__plus_00_dot_05_bar__plus_02_dot_12 - object + Cabinet_bar__plus_00_dot_68_bar__plus_00_dot_50_bar__minus_02_dot_20 - receptacle + Cabinet_bar__plus_00_dot_68_bar__plus_02_dot_02_bar__minus_02_dot_46 - receptacle + 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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 - 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loc_bar__minus_5_bar__minus_5_bar_3_bar_15 - location + loc_bar__minus_4_bar_2_bar_3_bar_60 - location + loc_bar__minus_1_bar__minus_7_bar_2_bar_0 - location + loc_bar_3_bar__minus_7_bar_2_bar_45 - location + loc_bar_2_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_4_bar_4_bar_3_bar_60 - location + loc_bar_0_bar__minus_7_bar_2_bar_45 - location + loc_bar__minus_5_bar__minus_7_bar_3_bar_45 - location + loc_bar_3_bar_0_bar_0_bar_60 - location + loc_bar__minus_5_bar__minus_1_bar_3_bar_45 - location + loc_bar_5_bar__minus_6_bar_2_bar_45 - location + loc_bar__minus_4_bar_3_bar_2_bar_60 - location + loc_bar__minus_5_bar__minus_6_bar_3_bar_60 - location + loc_bar__minus_2_bar__minus_7_bar_2_bar_45 - location + loc_bar__minus_5_bar__minus_7_bar_2_bar__minus_30 - location + loc_bar__minus_4_bar__minus_7_bar_2_bar__minus_30 - location + loc_bar_2_bar__minus_7_bar_2_bar__minus_30 - location + loc_bar_4_bar__minus_7_bar_2_bar__minus_30 - location + loc_bar__minus_5_bar__minus_1_bar_3_bar_60 - location + loc_bar_3_bar_0_bar_3_bar_30 - location + loc_bar_5_bar__minus_2_bar_3_bar_60 - location + loc_bar__minus_5_bar_7_bar_3_bar_60 - location + loc_bar__minus_4_bar_4_bar_2_bar_45 - location + loc_bar__minus_4_bar__minus_4_bar_0_bar_45 - location + loc_bar__minus_5_bar__minus_5_bar_2_bar_45 - location + loc_bar_7_bar__minus_1_bar_1_bar_30 - location + loc_bar_0_bar__minus_7_bar_2_bar_60 - location + loc_bar__minus_3_bar__minus_6_bar_3_bar_60 - location + loc_bar_7_bar__minus_8_bar_2_bar_60 - location + loc_bar__minus_2_bar__minus_7_bar_2_bar_60 - location + loc_bar__minus_1_bar__minus_7_bar_2_bar_60 - location + loc_bar__minus_5_bar__minus_6_bar_3_bar_45 - location + loc_bar__minus_5_bar_1_bar_3_bar_45 - location + loc_bar_6_bar__minus_4_bar_2_bar_45 - location + loc_bar_0_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_5_bar__minus_3_bar_2_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 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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 Cabinet_bar__minus_01_dot_69_bar__plus_02_dot_02_bar__minus_02_dot_46 CabinetType) + (receptacleType 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slice in the fridge", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1OWHPMKE7YAGL_3WSELTNVR6TULE9JAHG7TUV9EQSATZ", + "high_descs": [ + "Go forward, hang a left, go to the counter to the left of the stove.", + "Pick up the butter knife that is closest to the wall from the counter.", + "Turn to the right, go to the sink, hang a right, go to the counter between the sink and coffee maker.", + "Cut the potato that is on the counter into slices.", + "Turn to the right and go to the fridge that is on the left.", + "Put the knife inside the fridge.", + "Turn to the left, go to the counter that is between the sink and coffee maker.", + "Pick up a slice of potato from the counter.", + "Turn to the left, go forward, hang a left, go to the brown shelves at the end of the room on the right. ", + "Put the potato into the pot that is on the second shelf. ", + "Pick up the pot containing the potato from the shelf. ", + "Turn around, go forward, hang a left, go to the counter, hang a right and go to the fridge. ", + "Put the pot on the middle shelf inside the fridge." + ], + "task_desc": "Put a pot containing potato inside the fridge.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-TomatoSliced-Pan-CounterTop-12/trial_T20190907_145208_503004/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-TomatoSliced-Pan-CounterTop-12/trial_T20190907_145208_503004/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..d8a74fa428a9b7fe87632300b4e995fd5307e1f0 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-TomatoSliced-Pan-CounterTop-12/trial_T20190907_145208_503004/initial_state.pddl @@ -0,0 +1,1074 @@ + +(define (problem plan_trial_T20190907_145208_503004) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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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- object + Egg_bar__minus_01_dot_11_bar__plus_01_dot_53_bar__plus_00_dot_20 - object + Faucet_bar__plus_01_dot_71_bar__plus_00_dot_93_bar__plus_01_dot_36 - object + Fork_bar__plus_01_dot_31_bar__plus_00_dot_75_bar__plus_00_dot_78 - object + Fork_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__plus_02_dot_23 - object + Fork_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__plus_01_dot_08 - object + Knife_bar__minus_00_dot_72_bar__plus_00_dot_77_bar__plus_02_dot_52 - object + Knife_bar__minus_00_dot_90_bar__plus_00_dot_77_bar__plus_00_dot_78 - 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_53_bar__plus_01_dot_00_bar__plus_02_dot_35 - object + Pan_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_87 - object + PepperShaker_bar__minus_00_dot_71_bar__plus_00_dot_93_bar__plus_02_dot_46 - object + PepperShaker_bar__minus_01_dot_04_bar__plus_00_dot_93_bar__plus_01_dot_15 - object + PepperShaker_bar__minus_01_dot_04_bar__plus_01_dot_50_bar__plus_01_dot_08 - object + Plate_bar__plus_01_dot_38_bar__plus_00_dot_11_bar__plus_00_dot_07 - object + Plate_bar__minus_01_dot_08_bar__plus_01_dot_51_bar__plus_00_dot_89 - object + Potato_bar__plus_01_dot_44_bar__plus_00_dot_97_bar__plus_02_dot_12 - object + Potato_bar__minus_00_dot_88_bar__plus_01_dot_53_bar__plus_00_dot_12 - object + Potato_bar__minus_00_dot_88_bar__plus_01_dot_53_bar__minus_00_dot_11 - object + Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_47 - object + SaltShaker_bar__plus_01_dot_79_bar__plus_00_dot_93_bar__plus_01_dot_46 - object + SaltShaker_bar__minus_00_dot_88_bar__plus_00_dot_08_bar__plus_02_dot_39 - object + SaltShaker_bar__minus_01_dot_21_bar__plus_00_dot_93_bar__plus_02_dot_31 - object + Sink_bar__plus_01_dot_54_bar__plus_00_dot_87_bar__plus_01_dot_64 - object + 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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_1_bar__minus_2_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_00_dot_63 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_21 CabinetType) + (receptacleType StoveBurner_bar__minus_01_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_47 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_02_dot_08 CabinetType) + (receptacleType CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92 CounterTopType) + (receptacleType Microwave_bar__plus_01_dot_63_bar__plus_01_dot_48_bar__plus_01_dot_65 MicrowaveType) + (receptacleType CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_02_dot_39 CounterTopType) + (receptacleType Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__plus_00_dot_63 CabinetType) + (receptacleType StoveBurner_bar__minus_00_dot_83_bar__plus_00_dot_92_bar__plus_01_dot_47 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_01_dot_21 CabinetType) + (receptacleType Toaster_bar__minus_01_dot_00_bar__plus_00_dot_93_bar__plus_02_dot_56 ToasterType) + (receptacleType Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_02_dot_08 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_91_bar__plus_01_dot_81_bar__plus_02_dot_70 CabinetType) + (receptacleType Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12 FridgeType) + (receptacleType Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_55_bar__plus_00_dot_59 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_00_dot_58 CabinetType) + (receptacleType GarbageCan_bar__plus_01_dot_45_bar__plus_00_dot_00_bar__plus_02_dot_91 GarbageCanType) + (receptacleType Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_00_dot_92 DrawerType) + (receptacleType StoveBurner_bar__minus_00_dot_83_bar__plus_00_dot_92_bar__plus_01_dot_87 StoveBurnerType) + (receptacleType Sink_bar__plus_01_dot_54_bar__plus_00_dot_87_bar__plus_01_dot_64_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__plus_01_dot_50_bar__plus_01_dot_81_bar__plus_02_dot_10 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_50_bar__plus_01_dot_81_bar__plus_02_dot_69 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_16 CabinetType) + (receptacleType CoffeeMachine_bar__plus_01_dot_69_bar__plus_00_dot_93_bar__plus_02_dot_45 CoffeeMachineType) + (receptacleType Cabinet_bar__minus_00_dot_91_bar__plus_01_dot_81_bar__plus_02_dot_11 CabinetType) + (receptacleType CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31 CounterTopType) + (receptacleType Cabinet_bar__plus_01_dot_22_bar__plus_01_dot_39_bar__plus_00_dot_59 CabinetType) + (receptacleType 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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_1_bar__minus_2_bar_2_bar_30) + + (cleanable ButterKnife_bar__minus_00_dot_96_bar__plus_00_dot_94_bar__plus_01_dot_00) + (cleanable Knife_bar__minus_00_dot_72_bar__plus_00_dot_77_bar__plus_02_dot_52) + (cleanable Plate_bar__minus_01_dot_08_bar__plus_01_dot_51_bar__plus_00_dot_89) + (cleanable Cup_bar__plus_01_dot_43_bar__plus_00_dot_08_bar__plus_02_dot_32) + (cleanable Apple_bar__plus_01_dot_52_bar__plus_00_dot_12_bar__plus_02_dot_85) + (cleanable Spoon_bar__plus_01_dot_36_bar__plus_00_dot_94_bar__plus_00_dot_94) + (cleanable Fork_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__plus_01_dot_08) + (cleanable Spoon_bar__plus_01_dot_41_bar__plus_00_dot_95_bar__plus_01_dot_84) + (cleanable Bowl_bar__plus_01_dot_70_bar__plus_01_dot_94_bar__plus_01_dot_41) + (cleanable Spatula_bar__plus_01_dot_28_bar__plus_00_dot_76_bar__plus_00_dot_85) + (cleanable Fork_bar__plus_01_dot_31_bar__plus_00_dot_75_bar__plus_00_dot_78) + (cleanable Tomato_bar__minus_00_dot_71_bar__plus_01_dot_00_bar__plus_01_dot_15) + (cleanable Potato_bar__plus_01_dot_44_bar__plus_00_dot_97_bar__plus_02_dot_12) + (cleanable Cup_bar__plus_01_dot_29_bar__plus_00_dot_94_bar__plus_02_dot_60) + (cleanable Potato_bar__minus_00_dot_88_bar__plus_01_dot_53_bar__minus_00_dot_11) + (cleanable Tomato_bar__minus_00_dot_88_bar__plus_01_dot_38_bar__plus_00_dot_12) + (cleanable Spoon_bar__minus_00_dot_69_bar__plus_00_dot_75_bar__plus_00_dot_85) + (cleanable Pan_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_87) + (cleanable Spatula_bar__plus_01_dot_59_bar__plus_00_dot_95_bar__plus_00_dot_81) + (cleanable Egg_bar__plus_01_dot_39_bar__plus_00_dot_11_bar__plus_02_dot_88) + (cleanable Cup_bar__plus_01_dot_31_bar__plus_00_dot_08_bar__plus_00_dot_85) + (cleanable DishSponge_bar__plus_01_dot_60_bar__plus_00_dot_94_bar__plus_01_dot_76) + (cleanable Egg_bar__minus_01_dot_11_bar__plus_01_dot_53_bar__plus_00_dot_20) + (cleanable Plate_bar__plus_01_dot_38_bar__plus_00_dot_11_bar__plus_00_dot_07) + (cleanable Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_47) + (cleanable Mug_bar__plus_01_dot_53_bar__plus_01_dot_00_bar__plus_02_dot_35) + (cleanable Fork_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__plus_02_dot_23) + (cleanable Apple_bar__plus_01_dot_29_bar__plus_00_dot_99_bar__plus_02_dot_12) + (cleanable ButterKnife_bar__plus_01_dot_36_bar__plus_00_dot_94_bar__plus_00_dot_94) + (cleanable Lettuce_bar__minus_01_dot_13_bar__plus_01_dot_03_bar__plus_00_dot_77) + (cleanable Knife_bar__minus_00_dot_90_bar__plus_00_dot_77_bar__plus_00_dot_78) + (cleanable Potato_bar__minus_00_dot_88_bar__plus_01_dot_53_bar__plus_00_dot_12) + (cleanable Bowl_bar__plus_01_dot_46_bar__plus_00_dot_94_bar__plus_01_dot_67) + + (heatable Plate_bar__minus_01_dot_08_bar__plus_01_dot_51_bar__plus_00_dot_89) + (heatable Cup_bar__plus_01_dot_43_bar__plus_00_dot_08_bar__plus_02_dot_32) + (heatable Apple_bar__plus_01_dot_52_bar__plus_00_dot_12_bar__plus_02_dot_85) + (heatable Tomato_bar__minus_00_dot_71_bar__plus_01_dot_00_bar__plus_01_dot_15) + (heatable Potato_bar__plus_01_dot_44_bar__plus_00_dot_97_bar__plus_02_dot_12) + (heatable Cup_bar__plus_01_dot_29_bar__plus_00_dot_94_bar__plus_02_dot_60) + (heatable Potato_bar__minus_00_dot_88_bar__plus_01_dot_53_bar__minus_00_dot_11) + (heatable Tomato_bar__minus_00_dot_88_bar__plus_01_dot_38_bar__plus_00_dot_12) + (heatable Egg_bar__plus_01_dot_39_bar__plus_00_dot_11_bar__plus_02_dot_88) + (heatable Cup_bar__plus_01_dot_31_bar__plus_00_dot_08_bar__plus_00_dot_85) + (heatable Egg_bar__minus_01_dot_11_bar__plus_01_dot_53_bar__plus_00_dot_20) + (heatable Plate_bar__plus_01_dot_38_bar__plus_00_dot_11_bar__plus_00_dot_07) + (heatable Mug_bar__plus_01_dot_53_bar__plus_01_dot_00_bar__plus_02_dot_35) + (heatable Apple_bar__plus_01_dot_29_bar__plus_00_dot_99_bar__plus_02_dot_12) + (heatable Potato_bar__minus_00_dot_88_bar__plus_01_dot_53_bar__plus_00_dot_12) + (heatable Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27) + (coolable Plate_bar__minus_01_dot_08_bar__plus_01_dot_51_bar__plus_00_dot_89) + (coolable Cup_bar__plus_01_dot_43_bar__plus_00_dot_08_bar__plus_02_dot_32) + (coolable Apple_bar__plus_01_dot_52_bar__plus_00_dot_12_bar__plus_02_dot_85) + (coolable Bowl_bar__plus_01_dot_70_bar__plus_01_dot_94_bar__plus_01_dot_41) + (coolable Tomato_bar__minus_00_dot_71_bar__plus_01_dot_00_bar__plus_01_dot_15) + (coolable Potato_bar__plus_01_dot_44_bar__plus_00_dot_97_bar__plus_02_dot_12) + (coolable Cup_bar__plus_01_dot_29_bar__plus_00_dot_94_bar__plus_02_dot_60) + (coolable 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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_94 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31) + (inReceptacle Spatula_bar__plus_01_dot_59_bar__plus_00_dot_95_bar__plus_00_dot_81 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31) + (inReceptacle Cup_bar__plus_01_dot_43_bar__plus_00_dot_08_bar__plus_02_dot_32 Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_02_dot_11) + (inReceptacle Plate_bar__plus_01_dot_38_bar__plus_00_dot_11_bar__plus_00_dot_07 Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_55_bar__plus_00_dot_59) + (inReceptacle PepperShaker_bar__minus_01_dot_04_bar__plus_01_dot_50_bar__plus_01_dot_08 Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_16) + (inReceptacle Plate_bar__minus_01_dot_08_bar__plus_01_dot_51_bar__plus_00_dot_89 Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_16) + 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ButterKnife_bar__minus_00_dot_96_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 Tomato_bar__minus_00_dot_71_bar__plus_01_dot_00_bar__plus_01_dot_15 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_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 PepperShaker_bar__minus_01_dot_04_bar__plus_00_dot_93_bar__plus_01_dot_15 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92) + (inReceptacle Cup_bar__plus_01_dot_31_bar__plus_00_dot_08_bar__plus_00_dot_85 Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_00_dot_63) + (inReceptacle 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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_85 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) + + + (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 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Lettuce_bar__minus_01_dot_13_bar__plus_01_dot_03_bar__plus_00_dot_77 loc_bar__minus_1_bar_4_bar_3_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_00_dot_79_bar__plus_00_dot_08_bar__plus_00_dot_70 loc_bar_1_bar_5_bar_3_bar_60) + (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_88_bar__plus_01_dot_38_bar__plus_00_dot_12 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_67 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_47 loc_bar__minus_1_bar_6_bar_3_bar_45) + (objectAtLocation Spatula_bar__plus_01_dot_28_bar__plus_00_dot_76_bar__plus_00_dot_85 loc_bar_2_bar_3_bar_1_bar_45) + (objectAtLocation Knife_bar__minus_00_dot_90_bar__plus_00_dot_77_bar__plus_00_dot_78 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_46 loc_bar_3_bar_8_bar_1_bar_45) + (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) + (objectAtLocation 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Spoon_bar__minus_00_dot_69_bar__plus_00_dot_75_bar__plus_00_dot_85 loc_bar_0_bar_3_bar_3_bar_45) + (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__plus_01_dot_53_bar__plus_01_dot_00_bar__plus_02_dot_35 loc_bar_3_bar_10_bar_1_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (and + (receptacleType ?r CounterTopType) + (exists (?o - object) + (and + (objectType ?o TomatoType) + (exists (?mo - object) + (and + (sliceable ?o) + (isSliced ?o) + (objectType ?mo PanType) + (isReceptacleObject ?mo) + (inReceptacleObject ?o ?mo) + (inReceptacle ?mo ?r) + ) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-TomatoSliced-Pan-CounterTop-12/trial_T20190907_145208_503004/traj_data.json 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1.4304558, + "y": 0.0808171, + "z": 2.32170749 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_c49d2ab8", + "position": { + "x": -1.07811213, + "y": 1.50646961, + "z": 0.887962461 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_8aa9254c", + "position": { + "x": -0.896596, + "y": 0.7688297, + "z": 0.779062569 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_2b7ef926", + "position": { + "x": -0.8771881, + "y": 1.38043737, + "z": 0.119000219 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Bowl_01d32d7f", + "position": { + "x": 1.45662689, + "y": 0.9410784, + "z": 1.673159 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_00786e88", + "position": { + "x": 1.78703427, + "y": 0.9342061, + "z": 1.45886016 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_00786e88", + "position": { + "x": -1.211005, + "y": 0.9342062, + "z": 2.310654 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_2858d553", + "position": { + "x": -1.03999031, + "y": 1.498306, + "z": 1.08367455 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_2858d553", + "position": { + "x": -1.043155, + "y": 0.9342062, + "z": 1.15406442 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_d0e3153d", + "position": { + "x": 1.523011, + "y": 0.119435996, + "z": 2.84730816 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_f3700d17", + "position": { + "x": -1.12628, + "y": 1.02830076, + "z": 0.765623748 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_09f78d94", + "position": { + "x": -0.791773558, + "y": 0.08357638, + "z": 0.7043834 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_20fd7fed", + "position": { + "x": -0.922066748, + "y": 0.990677357, + "z": 2.26652265 + }, + "rotation": { + "x": 359.990448, + "y": 302.910339, + "z": 359.952 + } + }, + { + "objectName": "Fork_d40bfead", + "position": { + "x": -1.13158083, + "y": 0.929465, + "z": 2.23234129 + }, + "rotation": { + "x": 354.68045, + "y": 1.55684841, + "z": 0.09083493 + } + }, + { + "objectName": "Tomato_2b7ef926", + "position": { + "x": -0.7106551, + "y": 0.999118, + "z": 1.15406442 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_01d32d7f", + "position": { + "x": 1.70056427, + "y": 1.944939, + "z": 1.41047323 + }, + "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": 1.59296227, + "y": 0.9528998, + "z": 0.8063456 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_8aa9254c", + "position": { + "x": -0.723602653, + "y": 0.7685599, + "z": 2.51703739 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_00786e88", + "position": { + "x": -0.8841277, + "y": 0.07850152, + "z": 2.38502026 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_d0e3153d", + "position": { + "x": 1.28540039, + "y": 0.9871304, + "z": 2.11864662 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_2858d553", + "position": { + "x": -0.712255, + "y": 0.9342062, + "z": 2.462146 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_6bdc3897", + "position": { + "x": -0.96002996, + "y": 0.9379421, + "z": 0.9986881 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_22312ae0", + "position": { + "x": 1.43918169, + "y": 0.9705572, + "z": 2.11864662 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_c49d2ab8", + "position": { + "x": 1.38253057, + "y": 0.105463147, + "z": 0.0706810355 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_a0f18af8", + "position": { + "x": 1.597631, + "y": 0.9442617, + "z": 1.75674188 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "Egg_83ce1479", + "position": { + "x": 1.39087415, + "y": 0.105368823, + "z": 2.879911 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_0e044937", + "position": { + "x": 1.3142451, + "y": 0.0808171, + "z": 0.848087549 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_9f7abbea", + "position": { + "x": -1.109, + "y": 0.9307289, + "z": 1.8657 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_5fe99c37", + "position": { + "x": 1.36229229, + "y": 0.939029336, + "z": 0.9402925 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_c6f8cd8f", + "position": { + "x": 1.52899969, + "y": 1.00298607, + "z": 2.34560037 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 4189102621, + "scene_num": 12 + }, + "task_id": "trial_T20190907_145208_503004", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1O3TWBUDONVLO_3IGI0VL64A1D7GC2RWAWK4PKK28ON2", + "high_descs": [ + "Turn around, walk halfway across the room and then turn left to face the counter to the right of the stove.", + "Pick up the knife on the counter.", + "Take a step to the right and face the tomato on the counter.", + "cut the tomato on the counter into slices.", + "Take a step to the right to face the stove.", + "Place the knife in the pan on the back right burner.", + "Pick up the pan with the knife in it.", + "Take a step to the left to face the counter to the left of the stove.", + "Put the pan with the knife in it on the counter.", + "Take a step to the right to face the tomato on the counter.", + "Pick up a slice of tomato on the counter.", + "Step to the left and focus on the pan on the counter.", + "Put the tomato slice in the pan on the counter." + ], + "task_desc": "To cut a tomato as well as putting the tomato slice and a knife in a pan plus sitting it on the counter.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3UF6XXFFRR237_3NJM2BJS4ZNC1CRCH6EXTT0YV3ECPD", + "high_descs": [ + "go the counter between the fridge and stove", + "pick up the knife from the counter", + "take a few steps to the right", + "slice the tomato", + "walk the knife over the stove", + "put the knife in the pan on the back right burner of the stove", + "pick up the pan with the knife in it", + "take pan and knife back to counter with tomato slices", + "put the pan and knife on the counter", + "take few steps to the right", + "Pick up one tomato slice ", + "take a few steps back to the left", + "Put the tomato slice in the pan with the knife " + ], + "task_desc": "Cut a tomato and put one slice in a pan", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1S1K7134S2VUC_35K3O9HUAEUF7XMWZUON7NMXE08EFR", + "high_descs": [ + "Move to the counter between the refrigerator and stove.", + "Pick up the knife that is near the fork.", + "Turn right, move to the counter in front of the tomato.", + "Slice the tomato with the knife.", + "Turn to the right, move to in front of the stove.", + "Place the knife into the pan that is on the right.", + "Pick up the pan with the knife in it.", + "Turn left, move to the counter to the right of the refrigerator.", + "Place the pan on to the counter.", + "Turn right, move to the counter in front of the tomato.", + "Pick up a slice of tomato.", + "Turn left, move to the counter in front of the pan.", + "Put the tomato slice in to the pan." + ], + "task_desc": "Place a slice of tomato in a pan.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2KAGFQU28JY43_3GD6L00D3VEMT6K19TXLVTNCMRPM1U", + "high_descs": [ + "Turn around, walk across the room, past the refrigerator, and turn to your left, facing the first kitchen counter top before the stove. ", + "Grab the butter knife that is on the counter, between the fork and the lettuce. ", + "Move over to your right so that you are right in front of the tomato near the edge of the counter. ", + "Cut the tomato into slices. ", + "Move over to your right again so that you are in standing directly in front of the oven.", + "Place the knife in the fry pan that is on the rear, right side of the stove top. ", + "Pick up the fry pan with the knife inside. ", + "Move over to your left so that you are directly in front of the kitchen counter with the sliced tomato on it. ", + "Set the fry pan with the knife inside it on the counter, beside the tomato. ", + "Move to your right so that you are once again directly in front of the tomato.", + "Pick up one of the tomato slices previously cut. ", + "Move to your left so that you are directly in front of the fry pan. ", + "Place the tomato slice in the fry pan." + ], + "task_desc": "Place a tomato slice into a fry pan. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3C81THYYSBGVD_3NJM2BJS4ZNC1CRCH6EXTT0YVT9CPO", + "high_descs": [ + "Turn around and face the counter next to the stove to your left.", + "Pick up the knife from the counter in front of you.", + "Turn right then face the tomato on the counter on your left.", + "Slice the tomato on the counter in front of you.", + "Turn right then face the stove to your left.", + "Place the knife in the right pot on the stove.", + "Take the pot with the knife from the stove in front of you.", + "Turn left then face the counter on your right.", + "Place the pot with knife on the counter in front of you.", + "Turn right then face the tomato on the counter in front of you.", + "Take a tomato slice from the counter in front of you.", + "Turn left then face the counter by the stove on your right.", + "Place the tomato slice on the pot on the counter in front of you." + ], + "task_desc": "Place a tomato slice in a pot.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AKW57KYG90X61_3SITXWYCNYQY0G1XPXSJCMGJFG5XBV", + "high_descs": [ + "turn right and head for the gas", + "pick up a knife at the left of the gas", + "move right towards the tomato on the table", + "slice the tomato with the knife", + "move right towards the gas", + "place the knife on the pan on the gas", + "pick up the pan ", + "head for the left side of the gas", + "drop the pan on the left side of the gas", + "move to the right side of the gas", + "pick up a slice of the tomato", + "move left towards the pan", + "drop the tomato slice in the pan" + ], + "task_desc": "drop a tomato slice with a knife inside a pan", + "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-TomatoSliced-Pan-CounterTop-12/trial_T20190919_062426_013486/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-TomatoSliced-Pan-CounterTop-12/trial_T20190919_062426_013486/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..8a640743da0a7e205de1e028a28f2c2827f37bf3 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-TomatoSliced-Pan-CounterTop-12/trial_T20190919_062426_013486/initial_state.pddl @@ -0,0 +1,1119 @@ + +(define (problem plan_trial_T20190919_062426_013486) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_34 - object + Apple_bar__plus_01_dot_42_bar__plus_00_dot_12_bar__plus_02_dot_88 - object + Bowl_bar__minus_00_dot_98_bar__plus_00_dot_56_bar__plus_00_dot_04 - object + Bowl_bar__minus_01_dot_04_bar__plus_01_dot_82_bar__plus_00_dot_30 - object + Bread_bar__minus_00_dot_97_bar__plus_01_dot_39_bar__plus_00_dot_04 - object + Bread_bar__minus_00_dot_97_bar__plus_01_dot_57_bar__plus_00_dot_20 - object + ButterKnife_bar__minus_00_dot_96_bar__plus_00_dot_94_bar__plus_02_dot_16 - object + ButterKnife_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__plus_00_dot_69 - object + ButterKnife_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__plus_02_dot_23 - object + Chair_bar__minus_00_dot_75_bar__plus_00_dot_01_bar__plus_03_dot_12 - object + Cup_bar__minus_01_dot_03_bar__plus_01_dot_95_bar__plus_01_dot_32 - object + Cup_bar__minus_01_dot_08_bar__plus_01_dot_50_bar__plus_02_dot_52 - object + Cup_bar__minus_01_dot_21_bar__plus_00_dot_94_bar__plus_02_dot_23 - object + DishSponge_bar__minus_00_dot_76_bar__plus_00_dot_75_bar__plus_00_dot_78 - object + DishSponge_bar__minus_00_dot_76_bar__plus_00_dot_75_bar__plus_01_dot_05 - object + DishSponge_bar__minus_01_dot_11_bar__plus_01_dot_95_bar__plus_01_dot_51 - object + Egg_bar__minus_00_dot_94_bar__plus_00_dot_60_bar__minus_00_dot_11 - object + Egg_bar__minus_01_dot_02_bar__plus_01_dot_35_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_67_bar__plus_00_dot_94_bar__plus_00_dot_81 - object + Knife_bar__minus_00_dot_72_bar__plus_00_dot_77_bar__plus_02_dot_52 - object + Knife_bar__minus_00_dot_83_bar__plus_00_dot_77_bar__plus_02_dot_52 - object + Knife_bar__minus_00_dot_90_bar__plus_00_dot_77_bar__plus_02_dot_52 - object + Lettuce_bar__plus_01_dot_46_bar__plus_01_dot_01_bar__plus_01_dot_68 - object + Lettuce_bar__minus_01_dot_04_bar__plus_01_dot_03_bar__plus_02_dot_23 - 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_53_bar__plus_01_dot_00_bar__plus_02_dot_35 - object + Pan_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_47 - object + 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Knife_bar__minus_00_dot_83_bar__plus_00_dot_77_bar__plus_02_dot_52) + (cleanable Tomato_bar__minus_00_dot_88_bar__plus_01_dot_56_bar__minus_00_dot_03) + (cleanable DishSponge_bar__minus_00_dot_76_bar__plus_00_dot_75_bar__plus_01_dot_05) + (cleanable Plate_bar__minus_00_dot_79_bar__plus_00_dot_09_bar__plus_00_dot_92) + (cleanable DishSponge_bar__minus_00_dot_76_bar__plus_00_dot_75_bar__plus_00_dot_78) + (cleanable Cup_bar__minus_01_dot_21_bar__plus_00_dot_94_bar__plus_02_dot_23) + (cleanable Mug_bar__plus_01_dot_53_bar__plus_01_dot_00_bar__plus_02_dot_35) + (cleanable ButterKnife_bar__minus_00_dot_96_bar__plus_00_dot_94_bar__plus_02_dot_16) + (cleanable Lettuce_bar__plus_01_dot_46_bar__plus_01_dot_01_bar__plus_01_dot_68) + (cleanable ButterKnife_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__plus_00_dot_69) + + (heatable Cup_bar__minus_01_dot_03_bar__plus_01_dot_95_bar__plus_01_dot_32) + (heatable Plate_bar__minus_01_dot_08_bar__plus_01_dot_51_bar__plus_00_dot_82) + (heatable Tomato_bar__minus_01_dot_01_bar__plus_00_dot_88_bar__plus_00_dot_12) + (heatable Tomato_bar__plus_01_dot_75_bar__plus_01_dot_00_bar__plus_00_dot_87) + (heatable Egg_bar__minus_01_dot_02_bar__plus_01_dot_35_bar__plus_00_dot_27) + (heatable Tomato_bar__minus_00_dot_99_bar__plus_00_dot_88_bar__minus_00_dot_11) + (heatable Apple_bar__plus_01_dot_42_bar__plus_00_dot_12_bar__plus_02_dot_88) + (heatable Bread_bar__minus_00_dot_97_bar__plus_01_dot_39_bar__plus_00_dot_04) + (heatable Cup_bar__minus_01_dot_08_bar__plus_01_dot_50_bar__plus_02_dot_52) + (heatable Bread_bar__minus_00_dot_97_bar__plus_01_dot_57_bar__plus_00_dot_20) + (heatable Apple_bar__plus_01_dot_39_bar__plus_00_dot_89_bar__plus_01_dot_34) + (heatable Plate_bar__plus_01_dot_39_bar__plus_00_dot_09_bar__plus_00_dot_99) + (heatable Potato_bar__minus_00_dot_71_bar__plus_00_dot_97_bar__plus_00_dot_77) + (heatable Egg_bar__minus_00_dot_94_bar__plus_00_dot_60_bar__minus_00_dot_11) + (heatable Tomato_bar__minus_00_dot_88_bar__plus_01_dot_56_bar__minus_00_dot_03) + (heatable Plate_bar__minus_00_dot_79_bar__plus_00_dot_09_bar__plus_00_dot_92) + (heatable Cup_bar__minus_01_dot_21_bar__plus_00_dot_94_bar__plus_02_dot_23) + (heatable Mug_bar__plus_01_dot_53_bar__plus_01_dot_00_bar__plus_02_dot_35) + (coolable Cup_bar__minus_01_dot_03_bar__plus_01_dot_95_bar__plus_01_dot_32) + (coolable Lettuce_bar__minus_01_dot_13_bar__plus_01_dot_03_bar__plus_00_dot_92) + (coolable Plate_bar__minus_01_dot_08_bar__plus_01_dot_51_bar__plus_00_dot_82) + (coolable Tomato_bar__minus_01_dot_01_bar__plus_00_dot_88_bar__plus_00_dot_12) + (coolable Tomato_bar__plus_01_dot_75_bar__plus_01_dot_00_bar__plus_00_dot_87) + (coolable Egg_bar__minus_01_dot_02_bar__plus_01_dot_35_bar__plus_00_dot_27) + (coolable Tomato_bar__minus_00_dot_99_bar__plus_00_dot_88_bar__minus_00_dot_11) + (coolable Bowl_bar__minus_00_dot_98_bar__plus_00_dot_56_bar__plus_00_dot_04) + (coolable Apple_bar__plus_01_dot_42_bar__plus_00_dot_12_bar__plus_02_dot_88) + (coolable Bread_bar__minus_00_dot_97_bar__plus_01_dot_39_bar__plus_00_dot_04) + (coolable Cup_bar__minus_01_dot_08_bar__plus_01_dot_50_bar__plus_02_dot_52) + (coolable Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_87) + (coolable Bread_bar__minus_00_dot_97_bar__plus_01_dot_57_bar__plus_00_dot_20) + (coolable Apple_bar__plus_01_dot_39_bar__plus_00_dot_89_bar__plus_01_dot_34) + (coolable Bowl_bar__minus_01_dot_04_bar__plus_01_dot_82_bar__plus_00_dot_30) + (coolable Plate_bar__plus_01_dot_39_bar__plus_00_dot_09_bar__plus_00_dot_99) + (coolable Potato_bar__minus_00_dot_71_bar__plus_00_dot_97_bar__plus_00_dot_77) + (coolable Pan_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_47) + (coolable Egg_bar__minus_00_dot_94_bar__plus_00_dot_60_bar__minus_00_dot_11) + (coolable Lettuce_bar__minus_01_dot_04_bar__plus_01_dot_03_bar__plus_02_dot_23) + (coolable Tomato_bar__minus_00_dot_88_bar__plus_01_dot_56_bar__minus_00_dot_03) + (coolable Plate_bar__minus_00_dot_79_bar__plus_00_dot_09_bar__plus_00_dot_92) + (coolable Cup_bar__minus_01_dot_21_bar__plus_00_dot_94_bar__plus_02_dot_23) + (coolable Mug_bar__plus_01_dot_53_bar__plus_01_dot_00_bar__plus_02_dot_35) + (coolable Lettuce_bar__plus_01_dot_46_bar__plus_01_dot_01_bar__plus_01_dot_68) + + (isCool Tomato_bar__minus_01_dot_01_bar__plus_00_dot_88_bar__plus_00_dot_12) + (isCool Tomato_bar__minus_00_dot_99_bar__plus_00_dot_88_bar__minus_00_dot_11) + (isCool Tomato_bar__minus_00_dot_88_bar__plus_01_dot_56_bar__minus_00_dot_03) + + + + (sliceable Lettuce_bar__minus_01_dot_13_bar__plus_01_dot_03_bar__plus_00_dot_92) + (sliceable Tomato_bar__minus_01_dot_01_bar__plus_00_dot_88_bar__plus_00_dot_12) + (sliceable Tomato_bar__plus_01_dot_75_bar__plus_01_dot_00_bar__plus_00_dot_87) + (sliceable Egg_bar__minus_01_dot_02_bar__plus_01_dot_35_bar__plus_00_dot_27) + (sliceable 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CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31) + (inReceptacle Fork_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 SoapBottle_bar__plus_01_dot_30_bar__plus_01_dot_75_bar__minus_00_dot_14 Cabinet_bar__plus_01_dot_22_bar__plus_02_dot_01_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 Plate_bar__minus_00_dot_79_bar__plus_00_dot_09_bar__plus_00_dot_92 Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__plus_00_dot_63) + (inReceptacle Bowl_bar__minus_01_dot_04_bar__plus_01_dot_82_bar__plus_00_dot_30 Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_00_dot_58) + (inReceptacle Cup_bar__minus_01_dot_03_bar__plus_01_dot_95_bar__plus_01_dot_32 Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_21) + 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SoapBottle_bar__plus_01_dot_43_bar__plus_00_dot_08_bar__plus_00_dot_71 Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_00_dot_63) + (inReceptacle Plate_bar__plus_01_dot_39_bar__plus_00_dot_09_bar__plus_00_dot_99 Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_00_dot_63) + (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 Bread_bar__minus_00_dot_97_bar__plus_01_dot_57_bar__plus_00_dot_20 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12) + (inReceptacle Egg_bar__minus_00_dot_94_bar__plus_00_dot_60_bar__minus_00_dot_11 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12) + (inReceptacle Tomato_bar__minus_01_dot_01_bar__plus_00_dot_88_bar__plus_00_dot_12 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12) + (inReceptacle Egg_bar__minus_01_dot_02_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 Tomato_bar__minus_00_dot_99_bar__plus_00_dot_88_bar__minus_00_dot_11 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12) + (inReceptacle Bowl_bar__minus_00_dot_98_bar__plus_00_dot_56_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_88_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 Bread_bar__minus_00_dot_97_bar__plus_01_dot_39_bar__plus_00_dot_04 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12) + (inReceptacle Apple_bar__plus_01_dot_42_bar__plus_00_dot_12_bar__plus_02_dot_88 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) + 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(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 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+ }, + { + "objectName": "Cup_0e044937", + "position": { + "x": -1.211005, + "y": 0.9364782, + "z": 2.234908 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_0e044937", + "position": { + "x": -1.032295, + "y": 1.95008326, + "z": 1.31762326 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_c49d2ab8", + "position": { + "x": 1.39171886, + "y": 0.0867086649, + "z": 0.988712549 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_c49d2ab8", + "position": { + "x": -0.791773558, + "y": 0.08874029, + "z": 0.9153209 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_8aa9254c", + "position": { + "x": -0.896596, + "y": 0.7685599, + "z": 2.51703739 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_8aa9254c", + "position": { + "x": -0.827398658, + "y": 0.7685599, + "z": 2.51703739 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_2b7ef926", + "position": { + "x": 1.74674225, + "y": 0.9991179, + "z": 0.87331903 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_2b7ef926", + "position": { + "x": -0.8771876, + "y": 1.56053746, + "z": -0.03430243 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Tomato_2b7ef926", + "position": { + "x": -0.988836169, + "y": 0.876337349, + "z": -0.110954061 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_09f78d94", + "position": { + "x": 1.4304558, + "y": 0.08154476, + "z": 0.7074625 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_09f78d94", + "position": { + "x": 1.30070591, + "y": 1.74606276, + "z": -0.137754261 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_01d32d7f", + "position": { + "x": -1.038075, + "y": 1.82416165, + "z": 0.303504229 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_2858d553", + "position": { + "x": 1.58572066, + "y": 1.94486415, + "z": 1.78360128 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_2858d553", + "position": { + "x": -0.79538, + "y": 0.9342062, + "z": 2.234908 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_f3700d17", + "position": { + "x": -1.12628, + "y": 1.02830076, + "z": 0.921 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_f3700d17", + "position": { + "x": -1.044755, + "y": 1.02830076, + "z": 2.234908 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_20fd7fed", + "position": { + "x": -0.971268654, + "y": 1.38705444, + "z": 0.04234863 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Apple_d0e3153d", + "position": { + "x": 1.38810134, + "y": 0.8926732, + "z": 1.3413173 + }, + "rotation": { + "x": 1.40334191e-14, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_f3700d17", + "position": { + "x": 1.45894945, + "y": 1.01440716, + "z": 1.67712712 + }, + "rotation": { + "x": 3.773014, + "y": 58.90235, + "z": 356.164642 + } + }, + { + "objectName": "SoapBottle_09f78d94", + "position": { + "x": -0.7640463, + "y": 0.0815011859, + "z": 2.31314516 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_20fd7fed", + "position": { + "x": -0.971269131, + "y": 1.56715453, + "z": 0.195651278 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Fork_d40bfead", + "position": { + "x": 1.66985226, + "y": 0.9384485, + "z": 0.8063456 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_2b7ef926", + "position": { + "x": -1.012837, + "y": 0.876337349, + "z": 0.118999839 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Bowl_01d32d7f", + "position": { + "x": -0.976326942, + "y": 0.562200367, + "z": 0.04234861 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Pot_b82a625f", + "position": { + "x": -1.109, + "y": 0.9307289, + "z": 1.8657 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spatula_733b0828", + "position": { + "x": 1.66985226, + "y": 0.9528998, + "z": 1.07423937 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_8aa9254c", + "position": { + "x": -0.723602653, + "y": 0.7685599, + "z": 2.51703739 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_00786e88", + "position": { + "x": -0.7236026, + "y": 0.7431432, + "z": 0.914999962 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_d0e3153d", + "position": { + "x": 1.42390835, + "y": 0.119435936, + "z": 2.879911 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_2858d553", + "position": { + "x": -1.043155, + "y": 0.9342062, + "z": 0.6879356 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_6bdc3897", + "position": { + "x": -1.12788, + "y": 0.9379421, + "z": 2.234908 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_22312ae0", + "position": { + "x": -0.7106551, + "y": 0.9705572, + "z": 0.765623748 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_c49d2ab8", + "position": { + "x": -1.07811213, + "y": 1.50646961, + "z": 0.822725058 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_a0f18af8", + "position": { + "x": -0.7582013, + "y": 0.74640125, + "z": 1.05093741 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "Egg_83ce1479", + "position": { + "x": -0.9376825, + "y": 0.6009827, + "z": -0.110953927 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Cup_0e044937", + "position": { + "x": -1.0813, + "y": 1.499687, + "z": 2.5241127 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_9f7abbea", + "position": { + "x": -1.109, + "y": 0.9307289, + "z": 1.4704 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_5fe99c37", + "position": { + "x": 1.59296286, + "y": 0.9390294, + "z": 2.02297 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_c6f8cd8f", + "position": { + "x": 1.52899969, + "y": 1.00298607, + "z": 2.34560037 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3843700509, + "scene_num": 12 + }, + "task_id": "trial_T20190919_062426_013486", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3B58QWMTBXVE0_38JBBYETQRR59HP7FDS4GJP6PZNE45", + "high_descs": [ + "Turn left and walk across the room to the counter.", + "Pick up the knife from behind the salt shaker.", + "Turn around and walk to the other counter.", + "Cut the fruit at the back of the counter.", + "Turn around and walk to the oven.", + "Place the knife standing up on the back left pan.", + "Turn around and walk to the counter.", + "Pick up a piece of fruit.", + "Turn around and carry the fruit to the oven.", + "Put the fruit in the pan with the knife.", + "Pick up the pan with the fruit and knife.", + "Turn left to the counter.", + "Set the pan down on the counter." + ], + "task_desc": "Put a piece of fruit into a pan on a counter.", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3T9K2RY06UO14_3N1FSUEFL8H0HBB7JIHKA17LPY4D4F", + "high_descs": [ + "Turn and go to the counter by the stove.", + "Pick up the knife on the counter. ", + "Turn around and go to the counter by the sink. ", + "Slice the apple on the counter. ", + "Turn around and go to the stove. ", + "Put the knife in the pan on the stove. ", + "Turn around and go to the counter by the stove. ", + "Pick up a slice of apple on the counter.", + "Turn around and go to the stove. ", + "Put the slice of apple in the pan on the stove. ", + "Pick up the pan on the stove.", + "Turn left and go to the counter by the stove.", + "Put the pan on the counter by the stove. " + ], + "task_desc": "Put a pan with an apple slice and knife", + "votes": [ + 0, + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1DMXEJGJY02E1_36U2A8VAG4GOTOV106REU36I48YKYI", + "high_descs": [ + "Turn left and go to the counter to the right of the fridge.", + "Pick up the knife.", + "Turn around and go to the counter to the right of the sink.", + "Slice the tomato.", + "Turn around and go to the stove.", + "Put the knife on the pan on the stove.", + "Turn around and go back to the tomato.", + "Pick up a slice of tomato.", + "Return to the stove.", + "Put the tomato slice on the pan with the knife.", + "Pick up the stack.", + "Move slightly to the left.", + "Put the stack down on the counter." + ], + "task_desc": "Put a pan with a knife plus a slice of tomato on the counter next to the stove.", + "votes": [ + 1, + 1, + 0, + 1, + 1, + 1, + 1, + 0, + 0, + 1 + ] + }, + { + "assignment_id": "A1OWHPMKE7YAGL_36NEMU28XIUFU7046HM6OJD6I7SWM3", + "high_descs": [ + "Turn to the left, then to the right and go to the counter on the left between the fridge and stove. ", + "Pick up the butter knife that is on the counter by the salt. ", + "Turn around and go to the counter across the room to the right of the sink with the tomato on it. ", + "Use the butter knife to cut the tomato into slices. ", + "Turn around and head to the stove. ", + "Put the butter knife in the pan on the back left burner. ", + "Turn around and go back to the counter with the tomato on it. ", + "Pick up a slice of the tomato from the counter. ", + "Turn around and head back to the stove. ", + "Put the tomato in the pan with the butter knife on the back left burner. ", + "Pick up the pan that has the butter knife and tomato in it. ", + "Turn to the left and go to the counter between the fridge and the stove. ", + "Put the pan down on the counter. " + ], + "task_desc": "Put a pan with a butter knife and tomato in it on a counter. ", + "votes": [ + 1, + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-TomatoSliced-Pan-CounterTop-12/trial_T20190919_084650_166640/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-TomatoSliced-Pan-CounterTop-12/trial_T20190919_084650_166640/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..f2be5945a65cca51cf27db91a68269b5c75b1b05 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-TomatoSliced-Pan-CounterTop-12/trial_T20190919_084650_166640/initial_state.pddl @@ -0,0 +1,1104 @@ + +(define (problem plan_trial_T20190919_084650_166640) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_29_bar__plus_00_dot_99_bar__plus_02_dot_12 - object + Apple_bar__minus_00_dot_71_bar__plus_00_dot_99_bar__plus_01_dot_08 - object + 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DishSponge_bar__plus_01_dot_41_bar__plus_00_dot_94_bar__plus_01_dot_80 - object + DishSponge_bar__minus_01_dot_11_bar__plus_01_dot_95_bar__plus_01_dot_92 - object + Egg_bar__plus_01_dot_65_bar__plus_01_dot_63_bar__plus_01_dot_81 - object + Egg_bar__minus_00_dot_82_bar__plus_00_dot_60_bar__minus_00_dot_11 - object + Faucet_bar__plus_01_dot_71_bar__plus_00_dot_93_bar__plus_01_dot_36 - object + Fork_bar__plus_01_dot_31_bar__plus_00_dot_75_bar__plus_00_dot_92 - object + Fork_bar__minus_00_dot_69_bar__plus_00_dot_75_bar__plus_02_dot_45 - object + Fork_bar__minus_00_dot_96_bar__plus_00_dot_94_bar__plus_00_dot_84 - object + Knife_bar__plus_01_dot_28_bar__plus_00_dot_77_bar__plus_00_dot_85 - object + Knife_bar__minus_00_dot_69_bar__plus_00_dot_77_bar__plus_01_dot_05 - object + Lettuce_bar__plus_01_dot_46_bar__plus_01_dot_01_bar__plus_01_dot_67 - object + LightSwitch_bar__plus_00_dot_45_bar__plus_01_dot_41_bar__minus_01_dot_68 - object + 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Apple_bar__minus_01_dot_04_bar__plus_00_dot_99_bar__plus_01_dot_00) + (cleanable Spatula_bar__minus_00_dot_79_bar__plus_00_dot_76_bar__plus_00_dot_92) + (cleanable Bowl_bar__minus_00_dot_89_bar__plus_00_dot_20_bar__minus_00_dot_04) + (cleanable Fork_bar__plus_01_dot_31_bar__plus_00_dot_75_bar__plus_00_dot_92) + (cleanable Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_47) + (cleanable Spoon_bar__plus_01_dot_38_bar__plus_00_dot_75_bar__plus_02_dot_46) + (cleanable Mug_bar__minus_01_dot_02_bar__plus_01_dot_31_bar__plus_00_dot_12) + (cleanable ButterKnife_bar__minus_00_dot_88_bar__plus_00_dot_94_bar__plus_01_dot_15) + (cleanable Bowl_bar__minus_00_dot_97_bar__plus_01_dot_50_bar__plus_00_dot_12) + (cleanable Apple_bar__plus_01_dot_29_bar__plus_00_dot_99_bar__plus_02_dot_12) + (cleanable Potato_bar__minus_01_dot_01_bar__plus_00_dot_85_bar__plus_00_dot_35) + (cleanable Cup_bar__plus_01_dot_75_bar__plus_00_dot_94_bar__plus_01_dot_01) + (cleanable Fork_bar__minus_00_dot_96_bar__plus_00_dot_94_bar__plus_00_dot_84) + (cleanable Apple_bar__minus_00_dot_71_bar__plus_00_dot_99_bar__plus_01_dot_08) + (cleanable Cup_bar__plus_01_dot_39_bar__plus_00_dot_84_bar__plus_01_dot_37) + (cleanable Plate_bar__minus_01_dot_08_bar__plus_01_dot_83_bar__plus_00_dot_36) + + (heatable Plate_bar__plus_01_dot_39_bar__plus_00_dot_09_bar__plus_02_dot_25) + (heatable Cup_bar__plus_01_dot_62_bar__plus_01_dot_60_bar__plus_01_dot_60) + (heatable Mug_bar__minus_00_dot_88_bar__plus_01_dot_31_bar__plus_00_dot_27) + (heatable Potato_bar__minus_00_dot_98_bar__plus_00_dot_60_bar__minus_00_dot_11) + (heatable Plate_bar__plus_01_dot_38_bar__plus_01_dot_75_bar__plus_00_dot_07) + (heatable Egg_bar__plus_01_dot_65_bar__plus_01_dot_63_bar__plus_01_dot_81) + (heatable Potato_bar__minus_00_dot_95_bar__plus_00_dot_23_bar__plus_00_dot_28) + (heatable Mug_bar__minus_01_dot_21_bar__plus_00_dot_93_bar__plus_02_dot_16) + (heatable Tomato_bar__minus_00_dot_94_bar__plus_00_dot_63_bar__plus_00_dot_27) + (heatable Egg_bar__minus_00_dot_82_bar__plus_00_dot_60_bar__minus_00_dot_11) + (heatable Apple_bar__minus_01_dot_04_bar__plus_00_dot_99_bar__plus_01_dot_00) + (heatable Mug_bar__minus_01_dot_02_bar__plus_01_dot_31_bar__plus_00_dot_12) + (heatable Apple_bar__plus_01_dot_29_bar__plus_00_dot_99_bar__plus_02_dot_12) + (heatable Potato_bar__minus_01_dot_01_bar__plus_00_dot_85_bar__plus_00_dot_35) + (heatable Cup_bar__plus_01_dot_75_bar__plus_00_dot_94_bar__plus_01_dot_01) + (heatable Apple_bar__minus_00_dot_71_bar__plus_00_dot_99_bar__plus_01_dot_08) + (heatable Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27) + (heatable Cup_bar__plus_01_dot_39_bar__plus_00_dot_84_bar__plus_01_dot_37) + (heatable Plate_bar__minus_01_dot_08_bar__plus_01_dot_83_bar__plus_00_dot_36) + (coolable Plate_bar__plus_01_dot_39_bar__plus_00_dot_09_bar__plus_02_dot_25) + (coolable Bowl_bar__minus_00_dot_80_bar__plus_00_dot_08_bar__plus_02_dot_39) + (coolable Cup_bar__plus_01_dot_62_bar__plus_01_dot_60_bar__plus_01_dot_60) + (coolable Lettuce_bar__plus_01_dot_46_bar__plus_01_dot_01_bar__plus_01_dot_67) + (coolable Mug_bar__minus_00_dot_88_bar__plus_01_dot_31_bar__plus_00_dot_27) + (coolable Potato_bar__minus_00_dot_98_bar__plus_00_dot_60_bar__minus_00_dot_11) + (coolable Plate_bar__plus_01_dot_38_bar__plus_01_dot_75_bar__plus_00_dot_07) + (coolable Egg_bar__plus_01_dot_65_bar__plus_01_dot_63_bar__plus_01_dot_81) + (coolable Potato_bar__minus_00_dot_95_bar__plus_00_dot_23_bar__plus_00_dot_28) + (coolable Mug_bar__minus_01_dot_21_bar__plus_00_dot_93_bar__plus_02_dot_16) + (coolable Pan_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_87) + (coolable Tomato_bar__minus_00_dot_94_bar__plus_00_dot_63_bar__plus_00_dot_27) + (coolable Egg_bar__minus_00_dot_82_bar__plus_00_dot_60_bar__minus_00_dot_11) + (coolable Apple_bar__minus_01_dot_04_bar__plus_00_dot_99_bar__plus_01_dot_00) + (coolable Bowl_bar__minus_00_dot_89_bar__plus_00_dot_20_bar__minus_00_dot_04) + (coolable Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_47) + (coolable Mug_bar__minus_01_dot_02_bar__plus_01_dot_31_bar__plus_00_dot_12) + (coolable Bowl_bar__minus_00_dot_97_bar__plus_01_dot_50_bar__plus_00_dot_12) + (coolable Apple_bar__plus_01_dot_29_bar__plus_00_dot_99_bar__plus_02_dot_12) + (coolable Potato_bar__minus_01_dot_01_bar__plus_00_dot_85_bar__plus_00_dot_35) + (coolable Cup_bar__plus_01_dot_75_bar__plus_00_dot_94_bar__plus_01_dot_01) + (coolable Apple_bar__minus_00_dot_71_bar__plus_00_dot_99_bar__plus_01_dot_08) + (coolable Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27) + (coolable Cup_bar__plus_01_dot_39_bar__plus_00_dot_84_bar__plus_01_dot_37) + (coolable Plate_bar__minus_01_dot_08_bar__plus_01_dot_83_bar__plus_00_dot_36) + + (isCool Tomato_bar__minus_00_dot_94_bar__plus_00_dot_63_bar__plus_00_dot_27) + + + + (sliceable Lettuce_bar__plus_01_dot_46_bar__plus_01_dot_01_bar__plus_01_dot_67) + (sliceable Potato_bar__minus_00_dot_98_bar__plus_00_dot_60_bar__minus_00_dot_11) + (sliceable Egg_bar__plus_01_dot_65_bar__plus_01_dot_63_bar__plus_01_dot_81) + (sliceable Potato_bar__minus_00_dot_95_bar__plus_00_dot_23_bar__plus_00_dot_28) + (sliceable Tomato_bar__minus_00_dot_94_bar__plus_00_dot_63_bar__plus_00_dot_27) + (sliceable Egg_bar__minus_00_dot_82_bar__plus_00_dot_60_bar__minus_00_dot_11) + (sliceable Apple_bar__minus_01_dot_04_bar__plus_00_dot_99_bar__plus_01_dot_00) + (sliceable Apple_bar__plus_01_dot_29_bar__plus_00_dot_99_bar__plus_02_dot_12) + (sliceable Potato_bar__minus_01_dot_01_bar__plus_00_dot_85_bar__plus_00_dot_35) + (sliceable Apple_bar__minus_00_dot_71_bar__plus_00_dot_99_bar__plus_01_dot_08) + (sliceable Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27) + + (inReceptacle Mug_bar__minus_01_dot_21_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 SaltShaker_bar__minus_01_dot_21_bar__plus_00_dot_93_bar__plus_02_dot_39 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_02_dot_39) + (inReceptacle Fork_bar__minus_00_dot_69_bar__plus_00_dot_75_bar__plus_02_dot_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 Spoon_bar__plus_01_dot_38_bar__plus_00_dot_75_bar__plus_02_dot_46 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_39) + (inReceptacle ButterKnife_bar__plus_01_dot_34_bar__plus_00_dot_75_bar__plus_02_dot_46 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_39) + (inReceptacle Cup_bar__plus_01_dot_75_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 Apple_bar__plus_01_dot_29_bar__plus_00_dot_99_bar__plus_02_dot_12 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 Plate_bar__plus_01_dot_38_bar__plus_01_dot_75_bar__plus_00_dot_07 Cabinet_bar__plus_01_dot_22_bar__plus_02_dot_01_bar__plus_00_dot_59) + (inReceptacle Plate_bar__plus_01_dot_39_bar__plus_00_dot_09_bar__plus_02_dot_25 Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_02_dot_11) + (inReceptacle PepperShaker_bar__minus_01_dot_08_bar__plus_01_dot_50_bar__plus_01_dot_02 Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_16) + 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ButterKnife_bar__minus_00_dot_88_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 ButterKnife_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 Fork_bar__minus_00_dot_96_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 Apple_bar__minus_01_dot_04_bar__plus_00_dot_99_bar__plus_01_dot_00 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92) + (inReceptacle Apple_bar__minus_00_dot_71_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 SoapBottle_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 Fork_bar__plus_01_dot_31_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 Knife_bar__plus_01_dot_28_bar__plus_00_dot_77_bar__plus_00_dot_85 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92) + (inReceptacle Spatula_bar__plus_01_dot_38_bar__plus_00_dot_76_bar__plus_00_dot_78 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92) + (inReceptacle Potato_bar__minus_00_dot_95_bar__plus_00_dot_23_bar__plus_00_dot_28 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12) + (inReceptacle Mug_bar__minus_01_dot_02_bar__plus_01_dot_31_bar__plus_00_dot_12 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_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_12 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_35 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12) + (inReceptacle Egg_bar__minus_00_dot_82_bar__plus_00_dot_60_bar__minus_00_dot_11 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_31_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_00_dot_98_bar__plus_00_dot_60_bar__minus_00_dot_11 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12) + (inReceptacle Bowl_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) + (inReceptacle SoapBottle_bar__plus_01_dot_52_bar__plus_00_dot_07_bar__plus_02_dot_95 GarbageCan_bar__plus_01_dot_45_bar__plus_00_dot_00_bar__plus_02_dot_91) + (inReceptacle SoapBottle_bar__plus_01_dot_39_bar__plus_00_dot_07_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_62_bar__plus_01_dot_60_bar__plus_01_dot_60 Microwave_bar__plus_01_dot_63_bar__plus_01_dot_48_bar__plus_01_dot_65) + (inReceptacle Egg_bar__plus_01_dot_65_bar__plus_01_dot_63_bar__plus_01_dot_81 Microwave_bar__plus_01_dot_63_bar__plus_01_dot_48_bar__plus_01_dot_65) + (inReceptacle Cup_bar__plus_01_dot_39_bar__plus_00_dot_84_bar__plus_01_dot_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 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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 Mug_bar__minus_01_dot_02_bar__plus_01_dot_31_bar__plus_00_dot_12 loc_bar_0_bar_0_bar_3_bar_60) + (objectAtLocation Cup_bar__plus_01_dot_39_bar__plus_00_dot_84_bar__plus_01_dot_37 loc_bar_4_bar_5_bar_1_bar_60) + (objectAtLocation Egg_bar__plus_01_dot_65_bar__plus_01_dot_63_bar__plus_01_dot_81 loc_bar_4_bar_6_bar_1_bar_15) + (objectAtLocation DishSponge_bar__plus_01_dot_41_bar__plus_00_dot_94_bar__plus_01_dot_80 loc_bar_4_bar_5_bar_1_bar_60) + (objectAtLocation Plate_bar__minus_01_dot_08_bar__plus_01_dot_83_bar__plus_00_dot_36 loc_bar__minus_1_bar_3_bar_3_bar__minus_30) + (objectAtLocation Potato_bar__minus_01_dot_01_bar__plus_00_dot_85_bar__plus_00_dot_35 loc_bar_0_bar_0_bar_3_bar_60) + (objectAtLocation ButterKnife_bar__minus_00_dot_88_bar__plus_00_dot_94_bar__plus_01_dot_15 loc_bar__minus_1_bar_4_bar_3_bar_45) + (objectAtLocation Apple_bar__minus_00_dot_71_bar__plus_00_dot_99_bar__plus_01_dot_08 loc_bar__minus_1_bar_4_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 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 Spatula_bar__plus_01_dot_38_bar__plus_00_dot_76_bar__plus_00_dot_78 loc_bar_2_bar_3_bar_1_bar_45) + (objectAtLocation Bowl_bar__minus_00_dot_89_bar__plus_00_dot_20_bar__minus_00_dot_04 loc_bar_0_bar_0_bar_3_bar_60) + (objectAtLocation Fork_bar__minus_00_dot_69_bar__plus_00_dot_75_bar__plus_02_dot_45 loc_bar_0_bar_9_bar_3_bar_45) + (objectAtLocation SoapBottle_bar__plus_01_dot_52_bar__plus_00_dot_07_bar__plus_02_dot_95 loc_bar_3_bar_10_bar_1_bar_60) + 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SoapBottle_bar__plus_01_dot_39_bar__plus_00_dot_07_bar__plus_02_dot_95 loc_bar_3_bar_10_bar_1_bar_60) + (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__plus_01_dot_31_bar__plus_00_dot_75_bar__plus_00_dot_92 loc_bar_2_bar_3_bar_1_bar_45) + (objectAtLocation Tomato_bar__minus_00_dot_94_bar__plus_00_dot_63_bar__plus_00_dot_27 loc_bar_0_bar_0_bar_3_bar_60) + (objectAtLocation Bowl_bar__minus_00_dot_80_bar__plus_00_dot_08_bar__plus_02_dot_39 loc_bar_1_bar_11_bar_3_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_47 loc_bar__minus_1_bar_6_bar_3_bar_45) + (objectAtLocation Spatula_bar__minus_00_dot_79_bar__plus_00_dot_76_bar__plus_00_dot_92 loc_bar_0_bar_3_bar_3_bar_45) + (objectAtLocation 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", + "Walk to the refrigerator. ", + "Open the refrigerator, cut the stem off of the tomato. ", + "Close the refrigerator door, walk to the stove. ", + "Put the butter knife in the skillet. ", + "Go back to refrigerator.", + "Take the tomato slice out of the bottom of the refrigerator. ", + "Go back to the stove. ", + "Put the tomato slice in the skillet. ", + "Pick up the skillet off of the stove. ", + "Take a step to the left. ", + "Put the skillet on the counter in front of the fork." + ], + "task_desc": "Place a tomato slice into the skillet on the counter with a butter knife. 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Close the door", + "Turn right and head to the oven", + "Put the tomato in the pan in the top right stove", + "Grab the pan with the knife and tomato in it", + "Turn slightly left and stop at the counter", + "Place the pan down on the counter" + ], + "task_desc": "Putting a pan with a knife and tomato slice in it 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-Watch-Bowl-SideTable-326/trial_T20190907_183206_906995/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Watch-Bowl-SideTable-326/trial_T20190907_183206_906995/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..811e1373d1b283b8f1ea8aeea0826534dc80adf5 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Watch-Bowl-SideTable-326/trial_T20190907_183206_906995/initial_state.pddl @@ -0,0 +1,791 @@ + +(define (problem plan_trial_T20190907_183206_906995) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_95_bar__plus_01_dot_41_bar__minus_02_dot_33 - object + BaseballBat_bar__minus_02_dot_98_bar__plus_00_dot_02_bar__minus_02_dot_70 - object + BasketBall_bar__minus_02_dot_72_bar__plus_00_dot_12_bar__minus_01_dot_93 - object + Blinds_bar__plus_02_dot_29_bar__plus_02_dot_07_bar__minus_03_dot_18 - object + Blinds_bar__minus_01_dot_00_bar__plus_02_dot_07_bar__minus_03_dot_18 - object + Book_bar__minus_00_dot_18_bar__plus_00_dot_61_bar__minus_00_dot_60 - object + Book_bar__minus_00_dot_78_bar__plus_00_dot_61_bar__minus_00_dot_60 - object + Book_bar__minus_02_dot_00_bar__plus_00_dot_60_bar__minus_01_dot_44 - object + Bowl_bar__plus_00_dot_89_bar__plus_01_dot_14_bar__minus_02_dot_22 - object + Bowl_bar__plus_00_dot_92_bar__plus_01_dot_14_bar__minus_02_dot_65 - object + Bowl_bar__plus_03_dot_21_bar__plus_00_dot_79_bar__minus_01_dot_69 - object + Bowl_bar__plus_03_dot_27_bar__plus_00_dot_79_bar__minus_02_dot_25 - object + CD_bar__plus_03_dot_21_bar__plus_00_dot_79_bar__minus_01_dot_40 - object + CellPhone_bar__minus_00_dot_63_bar__plus_00_dot_62_bar__plus_00_dot_25 - object + Chair_bar__plus_02_dot_73_bar__plus_00_dot_00_bar__minus_01_dot_21 - object + Chair_bar__plus_02_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_16 - object + Cloth_bar__plus_00_dot_71_bar_00_dot_00_bar__minus_02_dot_75 - object + Cloth_bar__plus_00_dot_91_bar__plus_00_dot_03_bar__minus_02_dot_70 - object + Cloth_bar__plus_00_dot_97_bar_00_dot_00_bar__minus_02_dot_40 - object + CreditCard_bar__plus_03_dot_33_bar__plus_00_dot_79_bar__minus_01_dot_97 - object + CreditCard_bar__minus_01_dot_66_bar__plus_00_dot_61_bar__plus_00_dot_50 - object + CreditCard_bar__minus_02_dot_98_bar__plus_01_dot_41_bar__minus_01_dot_83 - object + KeyChain_bar__minus_01_dot_73_bar__plus_00_dot_62_bar__plus_00_dot_42 - object + Lamp_bar__plus_03_dot_24_bar__plus_00_dot_79_bar__minus_00_dot_65 - object + Laptop_bar__minus_00_dot_33_bar__plus_00_dot_61_bar__minus_01_dot_44 - object + Laptop_bar__minus_02_dot_46_bar__plus_00_dot_60_bar__minus_00_dot_88 - object + LightSwitch_bar__minus_00_dot_14_bar__plus_01_dot_33_bar__plus_00_dot_60 - object + Mirror_bar__plus_00_dot_45_bar__plus_01_dot_49_bar__plus_00_dot_62 - object + Mug_bar__plus_00_dot_99_bar__plus_01_dot_14_bar__minus_02_dot_79 - object + Mug_bar__plus_03_dot_06_bar__plus_00_dot_54_bar__minus_00_dot_38 - object + Pencil_bar__plus_03_dot_09_bar__plus_00_dot_80_bar__minus_01_dot_97 - object + Pen_bar__minus_01_dot_38_bar__plus_00_dot_62_bar__plus_00_dot_38 - object + Pillow_bar__minus_02_dot_47_bar__plus_00_dot_66_bar__plus_00_dot_11 - object + Pillow_bar__minus_02_dot_76_bar__plus_00_dot_68_bar__minus_01_dot_44 - object + Poster_bar__plus_03_dot_40_bar__plus_01_dot_70_bar__minus_00_dot_79 - object + Poster_bar__plus_03_dot_40_bar__plus_01_dot_86_bar__minus_01_dot_98 - object + TeddyBear_bar__minus_02_dot_65_bar__plus_00_dot_62_bar__minus_00_dot_40 - object + TennisRacket_bar__minus_03_dot_02_bar__plus_00_dot_30_bar__minus_02_dot_20 - object + Watch_bar__plus_00_dot_83_bar__plus_01_dot_41_bar__minus_02_dot_22 - object + Watch_bar__minus_01_dot_52_bar__plus_00_dot_61_bar__plus_00_dot_54 - object + Watch_bar__minus_01_dot_68_bar__plus_00_dot_08_bar__plus_00_dot_41 - object + Watch_bar__minus_01_dot_73_bar__plus_00_dot_61_bar__plus_00_dot_34 - object + Window_bar__plus_02_dot_28_bar__plus_00_dot_93_bar__minus_03_dot_18 - object + Window_bar__minus_01_dot_02_bar__plus_00_dot_93_bar__minus_03_dot_19 - object + Bed_bar__minus_00_dot_63_bar__plus_00_dot_00_bar__minus_00_dot_55 - receptacle + Bed_bar__minus_02_dot_46_bar__plus_00_dot_01_bar__minus_00_dot_55 - receptacle + DiningTable_bar__plus_03_dot_16_bar__minus_00_dot_01_bar__minus_01_dot_42 - receptacle + Drawer_bar__minus_01_dot_52_bar__plus_00_dot_15_bar__plus_00_dot_36 - receptacle + Drawer_bar__minus_01_dot_52_bar__plus_00_dot_42_bar__plus_00_dot_36 - receptacle + GarbageCan_bar__plus_01_dot_69_bar_00_dot_00_bar__minus_02_dot_79 - receptacle + Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_01_dot_62 - receptacle + Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_02_dot_16 - receptacle + Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_02_dot_73 - receptacle + Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_01_dot_62 - receptacle + Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_02_dot_16 - receptacle + Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_02_dot_73 - receptacle + Shelf_bar__plus_03_dot_04_bar__plus_00_dot_53_bar__minus_00_dot_56 - receptacle + Shelf_bar__plus_03_dot_04_bar__plus_00_dot_53_bar__minus_02_dot_26 - receptacle + Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_01_dot_62 - receptacle + Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_02_dot_19 - receptacle + Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_02_dot_74 - receptacle + Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_01_dot_62 - receptacle + Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_19 - receptacle + Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_74 - receptacle + SideTable_bar__minus_01_dot_52_bar__plus_00_dot_42_bar__plus_00_dot_36 - receptacle + loc_bar_1_bar__minus_10_bar_1_bar_15 - location + loc_bar__minus_9_bar__minus_8_bar_3_bar_15 - location + loc_bar__minus_9_bar__minus_10_bar_3_bar_30 - location + loc_bar__minus_9_bar__minus_10_bar_0_bar_45 - location + loc_bar_3_bar__minus_3_bar_3_bar_45 - location + loc_bar_1_bar_0_bar_0_bar_30 - location + loc_bar_9_bar__minus_11_bar_2_bar_60 - location + loc_bar_9_bar__minus_11_bar_2_bar__minus_30 - location + loc_bar_1_bar__minus_10_bar_1_bar_30 - location + loc_bar_2_bar_0_bar_0_bar_15 - location + loc_bar_9_bar__minus_1_bar_1_bar_60 - location + loc_bar_1_bar__minus_6_bar_1_bar_30 - location + loc_bar_1_bar__minus_9_bar_1_bar_15 - location + loc_bar__minus_4_bar__minus_11_bar_2_bar__minus_30 - location + loc_bar_9_bar__minus_8_bar_1_bar_60 - location + loc_bar_10_bar__minus_2_bar_1_bar_0 - location + loc_bar__minus_6_bar__minus_3_bar_0_bar_60 - location + loc_bar_10_bar__minus_7_bar_0_bar_60 - location + loc_bar__minus_6_bar__minus_2_bar_0_bar_60 - location + loc_bar__minus_6_bar__minus_1_bar_0_bar_60 - location + loc_bar__minus_9_bar__minus_10_bar_3_bar_60 - location + loc_bar__minus_8_bar__minus_8_bar_3_bar_30 - location + loc_bar_9_bar__minus_11_bar_3_bar_60 - location + loc_bar__minus_9_bar__minus_8_bar_3_bar_60 - location + loc_bar__minus_9_bar__minus_9_bar_3_bar_60 - location + loc_bar_1_bar__minus_10_bar_1_bar_60 - location + loc_bar__minus_9_bar__minus_10_bar_3_bar_15 - location + loc_bar__minus_9_bar__minus_9_bar_3_bar_30 - location + loc_bar_1_bar__minus_6_bar_1_bar_15 - location + loc_bar_10_bar__minus_8_bar_1_bar__minus_15 - location + loc_bar_1_bar__minus_9_bar_1_bar_30 - location + loc_bar_8_bar__minus_5_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_11_bar_2_bar_60 - location + loc_bar__minus_9_bar__minus_9_bar_3_bar_15 - location + loc_bar_9_bar_0_bar_1_bar_60 - location + loc_bar__minus_9_bar__minus_8_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_01_dot_62 ShelfType) + (receptacleType Bed_bar__minus_02_dot_46_bar__plus_00_dot_01_bar__minus_00_dot_55 BedType) + (receptacleType Drawer_bar__minus_01_dot_52_bar__plus_00_dot_42_bar__plus_00_dot_36 DrawerType) + (receptacleType Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_01_dot_62 ShelfType) + (receptacleType Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_02_dot_19 ShelfType) + (receptacleType SideTable_bar__minus_01_dot_52_bar__plus_00_dot_42_bar__plus_00_dot_36 SideTableType) + (receptacleType Shelf_bar__plus_03_dot_04_bar__plus_00_dot_53_bar__minus_02_dot_26 ShelfType) + (receptacleType GarbageCan_bar__plus_01_dot_69_bar_00_dot_00_bar__minus_02_dot_79 GarbageCanType) + (receptacleType Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_01_dot_62 ShelfType) + (receptacleType Drawer_bar__minus_01_dot_52_bar__plus_00_dot_15_bar__plus_00_dot_36 DrawerType) + (receptacleType Bed_bar__minus_00_dot_63_bar__plus_00_dot_00_bar__minus_00_dot_55 BedType) + (receptacleType Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_02_dot_74 ShelfType) + (receptacleType Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_02_dot_73 ShelfType) + (receptacleType Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_19 ShelfType) + (receptacleType Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_01_dot_62 ShelfType) + (receptacleType Shelf_bar__plus_03_dot_04_bar__plus_00_dot_53_bar__minus_00_dot_56 ShelfType) + (receptacleType Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_74 ShelfType) + (receptacleType Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_02_dot_16 ShelfType) + (receptacleType DiningTable_bar__plus_03_dot_16_bar__minus_00_dot_01_bar__minus_01_dot_42 DiningTableType) + (receptacleType Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_02_dot_73 ShelfType) + (receptacleType Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_02_dot_16 ShelfType) + (objectType Chair_bar__plus_02_dot_73_bar__plus_00_dot_00_bar__minus_01_dot_21 ChairType) + (objectType CD_bar__plus_03_dot_21_bar__plus_00_dot_79_bar__minus_01_dot_40 CDType) + (objectType Book_bar__minus_00_dot_78_bar__plus_00_dot_61_bar__minus_00_dot_60 BookType) + (objectType Watch_bar__plus_00_dot_83_bar__plus_01_dot_41_bar__minus_02_dot_22 WatchType) + (objectType Bowl_bar__plus_00_dot_89_bar__plus_01_dot_14_bar__minus_02_dot_22 BowlType) + (objectType BasketBall_bar__minus_02_dot_72_bar__plus_00_dot_12_bar__minus_01_dot_93 BasketBallType) + (objectType TennisRacket_bar__minus_03_dot_02_bar__plus_00_dot_30_bar__minus_02_dot_20 TennisRacketType) + (objectType CreditCard_bar__minus_02_dot_98_bar__plus_01_dot_41_bar__minus_01_dot_83 CreditCardType) + (objectType Pen_bar__minus_01_dot_38_bar__plus_00_dot_62_bar__plus_00_dot_38 PenType) + (objectType Bowl_bar__plus_00_dot_92_bar__plus_01_dot_14_bar__minus_02_dot_65 BowlType) + (objectType Laptop_bar__minus_00_dot_33_bar__plus_00_dot_61_bar__minus_01_dot_44 LaptopType) + (objectType Chair_bar__plus_02_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_16 ChairType) + (objectType Watch_bar__minus_01_dot_73_bar__plus_00_dot_61_bar__plus_00_dot_34 WatchType) + (objectType Pillow_bar__minus_02_dot_76_bar__plus_00_dot_68_bar__minus_01_dot_44 PillowType) + (objectType AlarmClock_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_33 AlarmClockType) + (objectType Cloth_bar__plus_00_dot_91_bar__plus_00_dot_03_bar__minus_02_dot_70 ClothType) + (objectType Mug_bar__plus_03_dot_06_bar__plus_00_dot_54_bar__minus_00_dot_38 MugType) + (objectType BaseballBat_bar__minus_02_dot_98_bar__plus_00_dot_02_bar__minus_02_dot_70 BaseballBatType) + (objectType Poster_bar__plus_03_dot_40_bar__plus_01_dot_70_bar__minus_00_dot_79 PosterType) + (objectType Bowl_bar__plus_03_dot_21_bar__plus_00_dot_79_bar__minus_01_dot_69 BowlType) + (objectType Mug_bar__plus_00_dot_99_bar__plus_01_dot_14_bar__minus_02_dot_79 MugType) + (objectType Pencil_bar__plus_03_dot_09_bar__plus_00_dot_80_bar__minus_01_dot_97 PencilType) + (objectType Mirror_bar__plus_00_dot_45_bar__plus_01_dot_49_bar__plus_00_dot_62 MirrorType) + (objectType CreditCard_bar__minus_01_dot_66_bar__plus_00_dot_61_bar__plus_00_dot_50 CreditCardType) + (objectType Pillow_bar__minus_02_dot_47_bar__plus_00_dot_66_bar__plus_00_dot_11 PillowType) + (objectType Window_bar__plus_02_dot_28_bar__plus_00_dot_93_bar__minus_03_dot_18 WindowType) + (objectType CreditCard_bar__plus_03_dot_33_bar__plus_00_dot_79_bar__minus_01_dot_97 CreditCardType) + (objectType Laptop_bar__minus_02_dot_46_bar__plus_00_dot_60_bar__minus_00_dot_88 LaptopType) + (objectType Watch_bar__minus_01_dot_52_bar__plus_00_dot_61_bar__plus_00_dot_54 WatchType) + (objectType Poster_bar__plus_03_dot_40_bar__plus_01_dot_86_bar__minus_01_dot_98 PosterType) + (objectType TeddyBear_bar__minus_02_dot_65_bar__plus_00_dot_62_bar__minus_00_dot_40 TeddyBearType) + (objectType Cloth_bar__plus_00_dot_97_bar_00_dot_00_bar__minus_02_dot_40 ClothType) + (objectType Blinds_bar__plus_02_dot_29_bar__plus_02_dot_07_bar__minus_03_dot_18 BlindsType) + (objectType Blinds_bar__minus_01_dot_00_bar__plus_02_dot_07_bar__minus_03_dot_18 BlindsType) + (objectType LightSwitch_bar__minus_00_dot_14_bar__plus_01_dot_33_bar__plus_00_dot_60 LightSwitchType) + (objectType CellPhone_bar__minus_00_dot_63_bar__plus_00_dot_62_bar__plus_00_dot_25 CellPhoneType) + (objectType Bowl_bar__plus_03_dot_27_bar__plus_00_dot_79_bar__minus_02_dot_25 BowlType) + (objectType Book_bar__minus_02_dot_00_bar__plus_00_dot_60_bar__minus_01_dot_44 BookType) + (objectType Window_bar__minus_01_dot_02_bar__plus_00_dot_93_bar__minus_03_dot_19 WindowType) + (objectType Cloth_bar__plus_00_dot_71_bar_00_dot_00_bar__minus_02_dot_75 ClothType) + (objectType Book_bar__minus_00_dot_18_bar__plus_00_dot_61_bar__minus_00_dot_60 BookType) + (objectType KeyChain_bar__minus_01_dot_73_bar__plus_00_dot_62_bar__plus_00_dot_42 KeyChainType) + (objectType Watch_bar__minus_01_dot_68_bar__plus_00_dot_08_bar__plus_00_dot_41 WatchType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType WatchType) + (canContain ShelfType BowlType) + (canContain ShelfType CDType) 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ShelfType CDType) + (canContain ShelfType MugType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType ClothType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType WatchType) + (canContain ShelfType BowlType) + (canContain ShelfType CDType) + (canContain ShelfType MugType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType ClothType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType WatchType) + (canContain SideTableType BowlType) + (canContain SideTableType CDType) + (canContain SideTableType MugType) + (canContain SideTableType CellPhoneType) + (canContain 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Drawer_bar__minus_01_dot_52_bar__plus_00_dot_15_bar__plus_00_dot_36) + + (atLocation agent1 loc_bar__minus_9_bar__minus_8_bar_1_bar_30) + + (cleanable Bowl_bar__plus_00_dot_89_bar__plus_01_dot_14_bar__minus_02_dot_22) + (cleanable Bowl_bar__plus_00_dot_92_bar__plus_01_dot_14_bar__minus_02_dot_65) + (cleanable Cloth_bar__plus_00_dot_91_bar__plus_00_dot_03_bar__minus_02_dot_70) + (cleanable Mug_bar__plus_03_dot_06_bar__plus_00_dot_54_bar__minus_00_dot_38) + (cleanable Bowl_bar__plus_03_dot_21_bar__plus_00_dot_79_bar__minus_01_dot_69) + (cleanable Mug_bar__plus_00_dot_99_bar__plus_01_dot_14_bar__minus_02_dot_79) + (cleanable Cloth_bar__plus_00_dot_97_bar_00_dot_00_bar__minus_02_dot_40) + (cleanable Bowl_bar__plus_03_dot_27_bar__plus_00_dot_79_bar__minus_02_dot_25) + (cleanable Cloth_bar__plus_00_dot_71_bar_00_dot_00_bar__minus_02_dot_75) + + (heatable Mug_bar__plus_03_dot_06_bar__plus_00_dot_54_bar__minus_00_dot_38) + (heatable 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loc_bar__minus_9_bar__minus_10_bar_3_bar_30) + (receptacleAtLocation Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_01_dot_62 loc_bar__minus_9_bar__minus_8_bar_3_bar_15) + (receptacleAtLocation Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_19 loc_bar__minus_9_bar__minus_9_bar_3_bar_15) + (receptacleAtLocation Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_74 loc_bar__minus_9_bar__minus_10_bar_3_bar_15) + (receptacleAtLocation SideTable_bar__minus_01_dot_52_bar__plus_00_dot_42_bar__plus_00_dot_36 loc_bar__minus_6_bar__minus_1_bar_0_bar_60) + (objectAtLocation Bowl_bar__plus_03_dot_21_bar__plus_00_dot_79_bar__minus_01_dot_69 loc_bar_8_bar__minus_5_bar_1_bar_60) + (objectAtLocation Mug_bar__plus_00_dot_99_bar__plus_01_dot_14_bar__minus_02_dot_79 loc_bar_1_bar__minus_10_bar_1_bar_30) + (objectAtLocation Watch_bar__plus_00_dot_83_bar__plus_01_dot_41_bar__minus_02_dot_22 loc_bar_1_bar__minus_9_bar_1_bar_15) + (objectAtLocation 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table to the left of the pen." + ], + "task_desc": "Put a grey bowl with a watch in it on the end table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1WJU1IQ3UTRC6_3PW9OPU9PT1WM2G8ZBE1GK9EGRA12U", + "high_descs": [ + "Turn left and go to the bedside table between beds.", + "Pick up the watch from the bedside table.", + "Turn around, walk past the bed, turn left and left again, then right and follow the desk to the right.", + "Set the watch in the bowl on the desk.", + "Pick up the bowl and watch from the desk.", + "Follow the same path back to the bedside table.", + "Set the watch and bowl on the bedside table." + ], + "task_desc": "Put the watch in the bowl and put it away on the bedside table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A11LSO6D7BMY99_3SB4CE2TJYCTH6W5JJSNHBWDXS5AXM", + "high_descs": [ + "go to your left in between the two beds to the end table", + "pick up the wrist watch", + "turn around go back the the end of the beds then go around the farthest bed", + "continue to your right to the desk that is against the wall next to the door", + "face the desk and put the watch in the bowl at the end of the desk", + "pick up the bowl with the watch in it carry it back to the end table between the two beds", + "place the bowl and watch on the end table on the left side" + ], + "task_desc": "Place a bowl with a watch in it on an end table between two beds", + "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-Bowl-SideTable-326/trial_T20190907_183310_882783/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Watch-Bowl-SideTable-326/trial_T20190907_183310_882783/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..ea2f9ee11dad2e18701b59e420c83b5d608c6296 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Watch-Bowl-SideTable-326/trial_T20190907_183310_882783/initial_state.pddl @@ -0,0 +1,812 @@ + +(define (problem plan_trial_T20190907_183310_882783) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + 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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loc_bar_9_bar_0_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Shelf_bar__plus_00_dot_92_bar__plus_01_dot_13_bar__minus_01_dot_62 ShelfType) + (receptacleType Bed_bar__minus_02_dot_46_bar__plus_00_dot_01_bar__minus_00_dot_55 BedType) + (receptacleType Drawer_bar__minus_01_dot_52_bar__plus_00_dot_42_bar__plus_00_dot_36 DrawerType) + (receptacleType Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_01_dot_62 ShelfType) + (receptacleType Shelf_bar__minus_02_dot_95_bar__plus_01_dot_13_bar__minus_02_dot_19 ShelfType) + (receptacleType SideTable_bar__minus_01_dot_52_bar__plus_00_dot_42_bar__plus_00_dot_36 SideTableType) + (receptacleType Shelf_bar__plus_03_dot_04_bar__plus_00_dot_53_bar__minus_02_dot_26 ShelfType) + (receptacleType GarbageCan_bar__plus_01_dot_69_bar_00_dot_00_bar__minus_02_dot_79 GarbageCanType) + (receptacleType Shelf_bar__plus_00_dot_92_bar__plus_01_dot_41_bar__minus_01_dot_62 ShelfType) + (receptacleType 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loc_bar__minus_9_bar__minus_8_bar_3_bar_15) + (receptacleAtLocation Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_19 loc_bar__minus_9_bar__minus_9_bar_3_bar_15) + (receptacleAtLocation Shelf_bar__minus_02_dot_95_bar__plus_01_dot_41_bar__minus_02_dot_74 loc_bar__minus_9_bar__minus_10_bar_3_bar_15) + (receptacleAtLocation SideTable_bar__minus_01_dot_52_bar__plus_00_dot_42_bar__plus_00_dot_36 loc_bar__minus_6_bar__minus_1_bar_0_bar_60) + (objectAtLocation Bowl_bar__plus_00_dot_89_bar__plus_01_dot_41_bar__minus_02_dot_85 loc_bar_1_bar__minus_10_bar_1_bar_15) + (objectAtLocation CD_bar__minus_01_dot_63_bar__plus_00_dot_07_bar__plus_00_dot_39 loc_bar__minus_6_bar__minus_3_bar_0_bar_60) + (objectAtLocation CellPhone_bar__minus_02_dot_98_bar__plus_01_dot_41_bar__minus_01_dot_77 loc_bar__minus_9_bar__minus_8_bar_3_bar_15) + (objectAtLocation Watch_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_97 loc_bar_8_bar__minus_5_bar_1_bar_60) + (objectAtLocation 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forward to the bed, turn left at the bed, go forward to the wall, turn right, go forward to the shelves.", + "Take the watch from the shelf.", + "Move to the right while facing the shelves.", + "Put the watch in the white bowl on the upper shelf.", + "Take the bowl from the shelves.", + "Turn around, go forward, turn left at the space between the beds, go forward to the night stand.", + "Put the bowl on the night stand." + ], + "task_desc": "Put a bowl with a watch in it on a night stand.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1MKCTVKE7J0ZP_3IXQG4FA2WF8ZKJZMHM5WJU188EB9G", + "high_descs": [ + "Turn around, go forward toward the bed, turn left, go forward, turn right at the end of the bed, then go straight to the shelves.", + "Pick up the watch from the left most shelf.", + "Move to the right, and look up to the shelf with the bowl on it.", + "Place the watch in the bowl on the shelf.", + "Pick up the bowl with the watch in it from the shelf.", + "Turn around, move forward, then turn left to go between the beds.", + "Put the bowl on the night stand, between the beds." + ], + "task_desc": "Put a bowl with a watch in it on the nightstand.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A36DK84J5YJ942_3OS4RQUCRCWH0UACP3MX6FGCB77BF8", + "high_descs": [ + "Move to the shelf at the foot of the bed", + "Pick up a watch from the shelf", + "Move to the right side of the shelf", + "Put the watch in a bowl", + "Pick up the bowl from the shelf", + "Move to the end table in between the two beds", + "Put the bowl on the end table" + ], + "task_desc": "Put a bowl with a watch on the end table in between the two beds.", + "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-AppleSliced-None-GarbageCan-4/trial_T20190918_163052_804353/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-AppleSliced-None-GarbageCan-4/trial_T20190918_163052_804353/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..c5532ee36bb1a62627221cae6c8a29c601ec38ed --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-AppleSliced-None-GarbageCan-4/trial_T20190918_163052_804353/initial_state.pddl @@ -0,0 +1,919 @@ + +(define (problem plan_trial_T20190918_163052_804353) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + 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otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - 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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_14_bar_6_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 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CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Fork_bar__minus_00_dot_72_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 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 Cup_bar__minus_00_dot_94_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 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 Plate_bar__minus_01_dot_52_bar__plus_00_dot_05_bar__plus_00_dot_44 Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73) + (inReceptacle PepperShaker_bar__minus_01_dot_60_bar__plus_00_dot_05_bar__plus_00_dot_67 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Bowl_bar__minus_02_dot_26_bar__plus_01_dot_12_bar__plus_00_dot_57 loc_bar__minus_7_bar_4_bar_2_bar_45) + (objectAtLocation PepperShaker_bar__minus_01_dot_60_bar__plus_00_dot_05_bar__plus_00_dot_67 loc_bar__minus_7_bar_7_bar_2_bar_45) + (objectAtLocation ButterKnife_bar__minus_00_dot_54_bar__plus_01_dot_05_bar__plus_02_dot_14 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Apple_bar__minus_00_dot_42_bar__plus_01_dot_11_bar__plus_02_dot_59 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Tomato_bar__minus_03_dot_64_bar__plus_00_dot_95_bar__plus_03_dot_13 loc_bar__minus_10_bar_11_bar_3_bar_60) + (objectAtLocation DishSponge_bar__minus_02_dot_09_bar__plus_00_dot_90_bar__plus_00_dot_61 loc_bar__minus_6_bar_4_bar_3_bar_60) + (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_02_dot_37_bar__plus_00_dot_90_bar__plus_00_dot_61 loc_bar__minus_8_bar_4_bar_3_bar_60) + (objectAtLocation Mug_bar__minus_00_dot_38_bar__plus_01_dot_10_bar__plus_03_dot_19 loc_bar__minus_5_bar_12_bar_1_bar_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (sliceable ?o) + (isSliced ?o) + (cleanable ?o) + (objectType ?o AppleType) + (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-AppleSliced-None-GarbageCan-4/trial_T20190918_163052_804353/traj_data.json b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-AppleSliced-None-GarbageCan-4/trial_T20190918_163052_804353/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..b44e3f05044310af719fe4afeae457a9d679d50c --- /dev/null +++ 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+ "y": 270.0, + "z": -1.40334191e-14 + } + }, + { + "objectName": "Bowl_9496ee5e", + "position": { + "x": -0.5388072, + "y": 1.04474556, + "z": 2.817812 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_4cc43937", + "position": { + "x": -3.92335987, + "y": 1.12120628, + "z": 0.284664035 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_8393cb4d", + "position": { + "x": -2.38837767, + "y": 1.12494218, + "z": 0.473335981 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_f6bdaee7", + "position": { + "x": -0.415528417, + "y": 1.11452734, + "z": 2.59353828 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_1473e57e", + "position": { + "x": -3.63921881, + "y": 0.952445745, + "z": 3.13280249 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_130c30e2", + "position": { + "x": -3.6448257, + "y": 0.112053685, + "z": 1.97881007 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_9dba57b8", + "position": { + "x": -2.41676259, + "y": 0.9040679, + "z": 0.544846058 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_ff353859", + "position": { + "x": -1.23539507, + "y": 0.0444409251, + "z": 0.381196976 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 4058042604, + "scene_num": 4 + }, + "task_id": "trial_T20190918_163052_804353", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2KAGFQU28JY43_33C7UALJVOPFT64VB0CJRX6JWPE182", + "high_descs": [ + "Turn to your right and go to the table on the left side of the kitchen, across the room. ", + "Pick up the butter knife, between the spoon and the spatula, on the table. ", + "Move over to the left side of the table. ", + "Cut the apple to the right of the toaster, on the table, into slices. ", + "Turn to your right and go to the right cabinet under the sink. ", + "Place the knife in the front of the right cabinet, under the sink. ", + "Turn to your left and go back to the table. ", + "Pick up one of the apple slices. ", + "Turn to your right and go to the sink. ", + "Place the apple slice in the back, right corner of the sink, turn the water on, rinse off the apple slice, turn the water off, and remove the apple slice from the sink. ", + "Turn to your right and go across the room to the garbage bin on the floor, to the left of the refrigerator. ", + "Place the apple slice in the garbage bin. " + ], + "task_desc": "Put a clean apple slice in the garbage bin. ", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AFU00NU09CFXE_3IQ1VMJRYWBB1Z05CBBQ2UUXKO5A9P", + "high_descs": [ + "Turn around and move to the wood table across the room.", + "Pick up the butter knife from behind the salt shaker.", + "Move a step to the left while carrying the knife.", + "Use the knife to slice the apple that's next to the toaster.", + "Turn right to carry the knife to stand in front of the kitchen sink.", + "Open the left cupboard beneath the sink and place the knife inside.", + "Turn around again to move back to the table where you left the sliced apple.", + "Pick up the apple slice from the table.", + "Turn right and carry the apple slice to the sink.", + "Place the apple slice in the sink, turn on the water, and then remove it once rinsed.", + "Turn right and carry the apple slice to the wall and then turn right to face the trash bin next to the fridge.", + "Place the apple slice in the trash bin." + ], + "task_desc": "Throw away a washed slice of apple.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3OYZK65C2G39N_3PW9OPU9PTB47R26VJ3IH6TGAQK210", + "high_descs": [ + " turn and walk to the table ", + "pick up the knife that is on the table ", + "slice the Apple that is on the table", + " turn and walk to the sink ", + " put the knife in the cabinet under the sink ", + " put the knife in the cabinet under the sink ", + "walk back to the table ", + " pick up a slice of apple ", + " walk to the sink ", + " put the Apple into the sink turn on the water turn off the water take the Apple out of the sink", + "walk to the trash can", + "put the Apple into the trash can " + ], + "task_desc": "put a piece of washed sliced Apple into the trash", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Kettle-None-Cabinet-3/trial_T20190909_151519_764841/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Kettle-None-Cabinet-3/trial_T20190909_151519_764841/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..0ef6bd81366adbaf1a5f72acba0d005a91eea669 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Kettle-None-Cabinet-3/trial_T20190909_151519_764841/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 kettle and put it in cabinet.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_151519_764841)\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_06_bar__plus_01_dot_72_bar__plus_01_dot_78 - object\n Apple_bar__minus_01_dot_36_bar__plus_01_dot_37_bar__minus_01_dot_50 - object\n Bowl_bar__plus_00_dot_97_bar__plus_01_dot_52_bar__plus_01_dot_60 - object\n Bowl_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_00_dot_71 - object\n Bowl_bar__minus_01_dot_79_bar__plus_00_dot_34_bar__minus_02_dot_26 - object\n Bread_bar__plus_00_dot_35_bar__plus_01_dot_40_bar__minus_03_dot_12 - object\n Bread_bar__minus_01_dot_31_bar__plus_01_dot_40_bar__minus_03_dot_31 - 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_64_bar__plus_01_dot_32_bar__minus_03_dot_16 - object\n DishSponge_bar__plus_00_dot_28_bar__plus_01_dot_32_bar__minus_02_dot_68 - object\n DishSponge_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_00_dot_11 - object\n Egg_bar__plus_00_dot_94_bar__plus_01_dot_25_bar__plus_01_dot_22 - object\n Egg_bar__plus_01_dot_03_bar__plus_01_dot_25_bar__plus_01_dot_24 - object\n Egg_bar__minus_01_dot_59_bar__plus_00_dot_32_bar__plus_02_dot_11 - 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_40_bar__plus_01_dot_32_bar__plus_00_dot_12 - object\n HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 - object\n Kettle_bar__plus_01_dot_05_bar__plus_00_dot_35_bar__minus_02_dot_16 - object\n Kettle_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__minus_01_dot_68 - object\n Knife_bar__minus_01_dot_31_bar__plus_01_dot_35_bar__minus_02_dot_76 - object\n Lettuce_bar__minus_01_dot_89_bar__plus_01_dot_40_bar__minus_01_dot_07 - object\n LightSwitch_bar__plus_01_dot_39_bar__plus_01_dot_57_bar__minus_00_dot_66 - object\n Mug_bar__plus_00_dot_77_bar__plus_01_dot_32_bar__minus_00_dot_94 - object\n Pan_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 - object\n Pan_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__minus_02_dot_20 - object\n PaperTowelRoll_bar__minus_01_dot_53_bar__plus_01_dot_43_bar__minus_02_dot_46 - object\n PepperShaker_bar__plus_01_dot_19_bar__plus_01_dot_20_bar__plus_01_dot_22 - object\n PepperShaker_bar__minus_01_dot_88_bar__plus_00_dot_34_bar__plus_00_dot_21 - object\n Plate_bar__plus_00_dot_82_bar__plus_00_dot_35_bar__minus_01_dot_85 - object\n Plate_bar__plus_01_dot_02_bar__plus_01_dot_76_bar__plus_02_dot_17 - object\n Plate_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_01_dot_11 - object\n Potato_bar__plus_01_dot_15_bar__plus_01_dot_35_bar__plus_00_dot_86 - object\n Pot_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 - object\n Pot_bar__minus_01_dot_66_bar__plus_01_dot_33_bar__plus_01_dot_09 - object\n Pot_bar__minus_01_dot_82_bar__plus_00_dot_35_bar__plus_00_dot_41 - object\n SaltShaker_bar__plus_00_dot_49_bar__plus_01_dot_32_bar__minus_03_dot_12 - 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_32_bar__minus_02_dot_05 - object\n SoapBottle_bar__minus_01_dot_68_bar__plus_00_dot_28_bar__plus_02_dot_11 - object\n Spatula_bar__minus_01_dot_56_bar__plus_00_dot_44_bar__minus_00_dot_30 - object\n 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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_0_bar_8_bar_1_bar_15 - 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_3_bar_6_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 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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 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Bowl_bar__minus_01_dot_75_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 Pot_bar__minus_01_dot_82_bar__plus_00_dot_35_bar__plus_00_dot_41 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47)\n (inReceptacle DishSponge_bar__minus_01_dot_75_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 PepperShaker_bar__minus_01_dot_88_bar__plus_00_dot_34_bar__plus_00_dot_21 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47)\n (inReceptacle Spoon_bar__plus_01_dot_07_bar__plus_00_dot_95_bar__plus_01_dot_05 Drawer_bar__plus_00_dot_71_bar__plus_01_dot_06_bar__plus_01_dot_02)\n (inReceptacle Kettle_bar__plus_01_dot_05_bar__plus_00_dot_35_bar__minus_02_dot_16 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05)\n (inReceptacle Plate_bar__plus_00_dot_82_bar__plus_00_dot_35_bar__minus_01_dot_85 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CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle PaperTowelRoll_bar__minus_01_dot_53_bar__plus_01_dot_43_bar__minus_02_dot_46 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle DishSponge_bar__plus_00_dot_28_bar__plus_01_dot_32_bar__minus_02_dot_68 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Bread_bar__plus_00_dot_35_bar__plus_01_dot_40_bar__minus_03_dot_12 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle SaltShaker_bar__plus_00_dot_49_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 Spatula_bar__minus_02_dot_05_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 Kettle_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_77_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 Pot_bar__minus_01_dot_66_bar__plus_01_dot_33_bar__plus_01_dot_09 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Spatula_bar__minus_01_dot_92_bar__plus_01_dot_34_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_40_bar__plus_01_dot_32_bar__plus_00_dot_12 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 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)\n (inReceptacle WineBottle_bar__minus_01_dot_95_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 Spoon_bar__plus_00_dot_98_bar__plus_00_dot_74_bar__plus_01_dot_02 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 Spatula_bar__minus_01_dot_56_bar__plus_00_dot_44_bar__minus_00_dot_30 Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43)\n (inReceptacle PepperShaker_bar__plus_01_dot_19_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 Egg_bar__plus_01_dot_03_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 Egg_bar__plus_00_dot_94_bar__plus_01_dot_25_bar__plus_01_dot_22 SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87)\n (inReceptacle Tomato_bar__plus_00_dot_78_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)\n (inReceptacle Pan_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 Apple_bar__plus_01_dot_06_bar__plus_01_dot_72_bar__plus_01_dot_78 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92)\n (inReceptacle Bowl_bar__plus_00_dot_97_bar__plus_01_dot_52_bar__plus_01_dot_60 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92)\n (inReceptacle Potato_bar__plus_01_dot_15_bar__plus_01_dot_35_bar__plus_00_dot_86 Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85)\n (inReceptacle Tomato_bar__minus_01_dot_66_bar__plus_00_dot_31_bar__plus_02_dot_28 GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19)\n (inReceptacle SoapBottle_bar__minus_01_dot_68_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)\n (inReceptacle Egg_bar__minus_01_dot_59_bar__plus_00_dot_32_bar__plus_02_dot_11 GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19)\n (inReceptacle Pan_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__minus_02_dot_20 Toaster_bar__minus_01_dot_89_bar__plus_01_dot_31_bar__minus_02_dot_51)\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 Apple_bar__minus_01_dot_36_bar__plus_01_dot_37_bar__minus_01_dot_50 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Spoon_bar__plus_00_dot_98_bar__plus_00_dot_74_bar__plus_01_dot_02 loc_bar_0_bar_6_bar_1_bar_60)\n (objectAtLocation DishSponge_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_00_dot_11 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__minus_01_dot_88_bar__plus_00_dot_34_bar__plus_00_dot_21 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation Plate_bar__plus_01_dot_02_bar__plus_01_dot_76_bar__plus_02_dot_17 loc_bar_0_bar_8_bar_1_bar_15)\n (objectAtLocation Tomato_bar__plus_00_dot_78_bar__plus_01_dot_24_bar__plus_01_dot_24 loc_bar_1_bar_4_bar_1_bar_45)\n (objectAtLocation Spatula_bar__minus_02_dot_05_bar__plus_01_dot_34_bar__plus_01_dot_74 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Pan_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__minus_02_dot_20 loc_bar__minus_4_bar__minus_9_bar_3_bar_30)\n (objectAtLocation Egg_bar__plus_00_dot_94_bar__plus_01_dot_25_bar__plus_01_dot_22 loc_bar_1_bar_4_bar_1_bar_45)\n (objectAtLocation Kettle_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 SoapBottle_bar__plus_01_dot_03_bar__plus_01_dot_32_bar__minus_02_dot_05 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Bowl_bar__minus_01_dot_79_bar__plus_00_dot_34_bar__minus_02_dot_26 loc_bar__minus_2_bar__minus_6_bar_3_bar_45)\n (objectAtLocation Pot_bar__minus_01_dot_82_bar__plus_00_dot_35_bar__plus_00_dot_41 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation Bread_bar__minus_01_dot_31_bar__plus_01_dot_40_bar__minus_03_dot_31 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Bowl_bar__plus_00_dot_97_bar__plus_01_dot_52_bar__plus_01_dot_60 loc_bar_0_bar_8_bar_1_bar_60)\n (objectAtLocation Plate_bar__plus_00_dot_82_bar__plus_00_dot_35_bar__minus_01_dot_85 loc_bar__minus_1_bar__minus_9_bar_1_bar_60)\n (objectAtLocation Egg_bar__plus_01_dot_03_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_92_bar__plus_01_dot_34_bar__plus_00_dot_45 loc_bar__minus_4_bar_5_bar_3_bar_30)\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__plus_00_dot_35_bar__plus_01_dot_40_bar__minus_03_dot_12 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Pot_bar__minus_01_dot_66_bar__plus_01_dot_33_bar__plus_01_dot_09 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Knife_bar__minus_01_dot_31_bar__plus_01_dot_35_bar__minus_02_dot_76 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Bowl_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_00_dot_71 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation Potato_bar__plus_01_dot_15_bar__plus_01_dot_35_bar__plus_00_dot_86 loc_bar_1_bar_3_bar_1_bar_30)\n (objectAtLocation SoapBottle_bar__minus_01_dot_68_bar__plus_00_dot_28_bar__plus_02_dot_11 loc_bar__minus_4_bar_5_bar_0_bar_60)\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_40_bar__plus_01_dot_32_bar__plus_00_dot_12 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Cup_bar__plus_00_dot_64_bar__plus_01_dot_32_bar__minus_03_dot_16 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (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)\n (objectAtLocation Egg_bar__minus_01_dot_59_bar__plus_00_dot_32_bar__plus_02_dot_11 loc_bar__minus_4_bar_5_bar_0_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_13_bar__plus_01_dot_33_bar__minus_02_dot_97 loc_bar__minus_1_bar__minus_9_bar_2_bar_30)\n (objectAtLocation SaltShaker_bar__plus_00_dot_49_bar__plus_01_dot_32_bar__minus_03_dot_12 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation WineBottle_bar__minus_01_dot_95_bar__plus_00_dot_34_bar__plus_01_dot_63 loc_bar__minus_2_bar_7_bar_3_bar_45)\n (objectAtLocation Lettuce_bar__minus_01_dot_89_bar__plus_01_dot_40_bar__minus_01_dot_07 loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\n (objectAtLocation 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_56_bar__plus_00_dot_44_bar__minus_00_dot_30 loc_bar__minus_4_bar__minus_2_bar_3_bar_60)\n (objectAtLocation PaperTowelRoll_bar__minus_01_dot_53_bar__plus_01_dot_43_bar__minus_02_dot_46 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Tomato_bar__minus_01_dot_66_bar__plus_00_dot_31_bar__plus_02_dot_28 loc_bar__minus_4_bar_5_bar_0_bar_60)\n (objectAtLocation Plate_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 PepperShaker_bar__plus_01_dot_19_bar__plus_01_dot_20_bar__plus_01_dot_22 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_00_dot_28_bar__plus_01_dot_32_bar__minus_02_dot_68 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Spoon_bar__plus_01_dot_07_bar__plus_00_dot_95_bar__plus_01_dot_05 loc_bar_0_bar_3_bar_1_bar_45)\n (objectAtLocation Apple_bar__plus_01_dot_06_bar__plus_01_dot_72_bar__plus_01_dot_78 loc_bar_0_bar_8_bar_1_bar_60)\n (objectAtLocation Mug_bar__plus_00_dot_77_bar__plus_01_dot_32_bar__minus_00_dot_94 loc_bar__minus_4_bar_5_bar_3_bar_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o KettleType)\n (receptacleType ?r CabinetType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to cabinet 1", "open cabinet 1", "take kettle 1 from cabinet 1", "go to sinkbasin 1", "clean kettle 1 with sinkbasin 1", "go to cabinet 1", "move kettle 1 to cabinet 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Kettle-None-Cabinet-3/trial_T20190909_151519_764841/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Kettle-None-Cabinet-3/trial_T20190909_151519_764841/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..3945e49facfe5c6f81f939aaf1e678910e6ce695 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Kettle-None-Cabinet-3/trial_T20190909_151519_764841/initial_state.pddl @@ -0,0 +1,901 @@ + +(define (problem plan_trial_T20190909_151519_764841) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_78 - object + Apple_bar__minus_01_dot_36_bar__plus_01_dot_37_bar__minus_01_dot_50 - object + Bowl_bar__plus_00_dot_97_bar__plus_01_dot_52_bar__plus_01_dot_60 - object + Bowl_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_00_dot_71 - object + Bowl_bar__minus_01_dot_79_bar__plus_00_dot_34_bar__minus_02_dot_26 - object + Bread_bar__plus_00_dot_35_bar__plus_01_dot_40_bar__minus_03_dot_12 - object + Bread_bar__minus_01_dot_31_bar__plus_01_dot_40_bar__minus_03_dot_31 - object + Chair_bar__plus_00_dot_60_bar__plus_00_dot_95_bar__minus_01_dot_09 - object + Cup_bar__plus_00_dot_64_bar__plus_01_dot_32_bar__minus_03_dot_16 - object + DishSponge_bar__plus_00_dot_28_bar__plus_01_dot_32_bar__minus_02_dot_68 - object + DishSponge_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_00_dot_11 - object + Egg_bar__plus_00_dot_94_bar__plus_01_dot_25_bar__plus_01_dot_22 - object + Egg_bar__plus_01_dot_03_bar__plus_01_dot_25_bar__plus_01_dot_24 - object + Egg_bar__minus_01_dot_59_bar__plus_00_dot_32_bar__plus_02_dot_11 - object + Faucet_bar__minus_02_dot_06_bar__plus_01_dot_36_bar__minus_00_dot_73 - object + Fork_bar__minus_01_dot_40_bar__plus_01_dot_32_bar__plus_00_dot_12 - 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_92_bar__plus_01_dot_32_bar__minus_01_dot_68 - object + Knife_bar__minus_01_dot_31_bar__plus_01_dot_35_bar__minus_02_dot_76 - 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_77_bar__plus_01_dot_32_bar__minus_00_dot_94 - object + Pan_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 - object + Pan_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__minus_02_dot_20 - object + PaperTowelRoll_bar__minus_01_dot_53_bar__plus_01_dot_43_bar__minus_02_dot_46 - object + PepperShaker_bar__plus_01_dot_19_bar__plus_01_dot_20_bar__plus_01_dot_22 - object + PepperShaker_bar__minus_01_dot_88_bar__plus_00_dot_34_bar__plus_00_dot_21 - object + Plate_bar__plus_00_dot_82_bar__plus_00_dot_35_bar__minus_01_dot_85 - object + Plate_bar__plus_01_dot_02_bar__plus_01_dot_76_bar__plus_02_dot_17 - object + Plate_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_01_dot_11 - object + Potato_bar__plus_01_dot_15_bar__plus_01_dot_35_bar__plus_00_dot_86 - object + Pot_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 - object + Pot_bar__minus_01_dot_66_bar__plus_01_dot_33_bar__plus_01_dot_09 - object + Pot_bar__minus_01_dot_82_bar__plus_00_dot_35_bar__plus_00_dot_41 - object + SaltShaker_bar__plus_00_dot_49_bar__plus_01_dot_32_bar__minus_03_dot_12 - object + Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98 - object + SoapBottle_bar__plus_01_dot_03_bar__plus_01_dot_32_bar__minus_02_dot_05 - object + SoapBottle_bar__minus_01_dot_68_bar__plus_00_dot_28_bar__plus_02_dot_11 - object + Spatula_bar__minus_01_dot_56_bar__plus_00_dot_44_bar__minus_00_dot_30 - object + Spatula_bar__minus_01_dot_92_bar__plus_01_dot_34_bar__plus_00_dot_45 - object + Spatula_bar__minus_02_dot_05_bar__plus_01_dot_34_bar__plus_01_dot_74 - object + Spoon_bar__plus_00_dot_98_bar__plus_00_dot_74_bar__plus_01_dot_02 - object + Spoon_bar__plus_01_dot_07_bar__plus_00_dot_95_bar__plus_01_dot_05 - object + StoveKnob_bar__minus_00_dot_19_bar__plus_01_dot_34_bar__minus_02_dot_74 - object + StoveKnob_bar__minus_00_dot_34_bar__plus_01_dot_34_bar__minus_02_dot_74 - object + StoveKnob_bar__minus_00_dot_57_bar__plus_01_dot_34_bar__minus_02_dot_74 - object + StoveKnob_bar__minus_00_dot_71_bar__plus_01_dot_34_bar__minus_02_dot_74 - object + Tomato_bar__plus_00_dot_78_bar__plus_01_dot_24_bar__plus_01_dot_24 - object + Tomato_bar__minus_01_dot_66_bar__plus_00_dot_31_bar__plus_02_dot_28 - object + Window_bar__minus_02_dot_57_bar__plus_01_dot_80_bar__minus_00_dot_82 - object + WineBottle_bar__minus_01_dot_95_bar__plus_00_dot_34_bar__plus_01_dot_63 - 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_0_bar_8_bar_1_bar_15 - location + loc_bar__minus_4_bar_5_bar_0_bar_60 - location + loc_bar__minus_2_bar_0_bar_3_bar_45 - location + loc_bar__minus_4_bar__minus_4_bar_3_bar_30 - location + loc_bar__minus_1_bar_2_bar_1_bar_60 - location + loc_bar_0_bar_1_bar_1_bar_45 - location + loc_bar_0_bar_8_bar_1_bar_60 - location + loc_bar__minus_1_bar__minus_9_bar_1_bar_60 - location + loc_bar_0_bar__minus_4_bar_1_bar_60 - location + loc_bar_0_bar__minus_6_bar_1_bar_30 - location + loc_bar__minus_4_bar__minus_3_bar_3_bar_45 - location + loc_bar__minus_4_bar_5_bar_3_bar_30 - location + loc_bar__minus_3_bar_6_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 WineBottle_bar__minus_01_dot_95_bar__plus_00_dot_34_bar__plus_01_dot_63 WineBottleType) + (objectType StoveKnob_bar__minus_00_dot_57_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType) + (objectType Egg_bar__plus_00_dot_94_bar__plus_01_dot_25_bar__plus_01_dot_22 EggType) + (objectType Cup_bar__plus_00_dot_64_bar__plus_01_dot_32_bar__minus_03_dot_16 CupType) + (objectType Bread_bar__minus_01_dot_31_bar__plus_01_dot_40_bar__minus_03_dot_31 BreadType) + (objectType DishSponge_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_00_dot_11 DishSpongeType) + (objectType Egg_bar__minus_01_dot_59_bar__plus_00_dot_32_bar__plus_02_dot_11 EggType) + (objectType SaltShaker_bar__plus_00_dot_49_bar__plus_01_dot_32_bar__minus_03_dot_12 SaltShakerType) + (objectType DishSponge_bar__plus_00_dot_28_bar__plus_01_dot_32_bar__minus_02_dot_68 DishSpongeType) + (objectType PepperShaker_bar__minus_01_dot_88_bar__plus_00_dot_34_bar__plus_00_dot_21 PepperShakerType) + (objectType Spatula_bar__minus_01_dot_92_bar__plus_01_dot_34_bar__plus_00_dot_45 SpatulaType) + (objectType Lettuce_bar__minus_01_dot_89_bar__plus_01_dot_40_bar__minus_01_dot_07 LettuceType) + (objectType Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98 SinkType) + (objectType Apple_bar__plus_01_dot_06_bar__plus_01_dot_72_bar__plus_01_dot_78 AppleType) + (objectType Window_bar__minus_02_dot_57_bar__plus_01_dot_80_bar__minus_00_dot_82 WindowType) + (objectType StoveKnob_bar__minus_00_dot_71_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType) + (objectType StoveKnob_bar__minus_00_dot_34_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType) + (objectType PepperShaker_bar__plus_01_dot_19_bar__plus_01_dot_20_bar__plus_01_dot_22 PepperShakerType) + (objectType Plate_bar__plus_00_dot_82_bar__plus_00_dot_35_bar__minus_01_dot_85 PlateType) + (objectType Pot_bar__minus_01_dot_82_bar__plus_00_dot_35_bar__plus_00_dot_41 PotType) + (objectType Kettle_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__minus_01_dot_68 KettleType) + (objectType StoveKnob_bar__minus_00_dot_19_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType) + (objectType Pot_bar__minus_01_dot_66_bar__plus_01_dot_33_bar__plus_01_dot_09 PotType) + (objectType Spoon_bar__plus_00_dot_98_bar__plus_00_dot_74_bar__plus_01_dot_02 SpoonType) + (objectType Plate_bar__plus_01_dot_02_bar__plus_01_dot_76_bar__plus_02_dot_17 PlateType) + (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 Pan_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__minus_02_dot_20 PanType) + (objectType Pan_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 PanType) + (objectType Apple_bar__minus_01_dot_36_bar__plus_01_dot_37_bar__minus_01_dot_50 AppleType) + (objectType Potato_bar__plus_01_dot_15_bar__plus_01_dot_35_bar__plus_00_dot_86 PotatoType) + (objectType Bowl_bar__plus_00_dot_97_bar__plus_01_dot_52_bar__plus_01_dot_60 BowlType) + (objectType SoapBottle_bar__minus_01_dot_68_bar__plus_00_dot_28_bar__plus_02_dot_11 SoapBottleType) + (objectType Spatula_bar__minus_01_dot_56_bar__plus_00_dot_44_bar__minus_00_dot_30 SpatulaType) + (objectType Tomato_bar__minus_01_dot_66_bar__plus_00_dot_31_bar__plus_02_dot_28 TomatoType) + (objectType Egg_bar__plus_01_dot_03_bar__plus_01_dot_25_bar__plus_01_dot_24 EggType) + (objectType PaperTowelRoll_bar__minus_01_dot_53_bar__plus_01_dot_43_bar__minus_02_dot_46 PaperTowelRollType) + (objectType 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Egg_bar__minus_01_dot_59_bar__plus_00_dot_32_bar__plus_02_dot_11) + (coolable Lettuce_bar__minus_01_dot_89_bar__plus_01_dot_40_bar__minus_01_dot_07) + (coolable Apple_bar__plus_01_dot_06_bar__plus_01_dot_72_bar__plus_01_dot_78) + (coolable Plate_bar__plus_00_dot_82_bar__plus_00_dot_35_bar__minus_01_dot_85) + (coolable Pot_bar__minus_01_dot_82_bar__plus_00_dot_35_bar__plus_00_dot_41) + (coolable Pot_bar__minus_01_dot_66_bar__plus_01_dot_33_bar__plus_01_dot_09) + (coolable Plate_bar__plus_01_dot_02_bar__plus_01_dot_76_bar__plus_02_dot_17) + (coolable Pan_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__minus_02_dot_20) + (coolable Pan_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97) + (coolable Apple_bar__minus_01_dot_36_bar__plus_01_dot_37_bar__minus_01_dot_50) + (coolable Potato_bar__plus_01_dot_15_bar__plus_01_dot_35_bar__plus_00_dot_86) + (coolable Bowl_bar__plus_00_dot_97_bar__plus_01_dot_52_bar__plus_01_dot_60) + (coolable Tomato_bar__minus_01_dot_66_bar__plus_00_dot_31_bar__plus_02_dot_28) + (coolable Egg_bar__plus_01_dot_03_bar__plus_01_dot_25_bar__plus_01_dot_24) + (coolable Mug_bar__plus_00_dot_77_bar__plus_01_dot_32_bar__minus_00_dot_94) + (coolable Tomato_bar__plus_00_dot_78_bar__plus_01_dot_24_bar__plus_01_dot_24) + (coolable Pot_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97) + (coolable Bowl_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_00_dot_71) + (coolable Plate_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_01_dot_11) + (coolable Bread_bar__plus_00_dot_35_bar__plus_01_dot_40_bar__minus_03_dot_12) + + + + + + (sliceable Egg_bar__plus_00_dot_94_bar__plus_01_dot_25_bar__plus_01_dot_22) + (sliceable Bread_bar__minus_01_dot_31_bar__plus_01_dot_40_bar__minus_03_dot_31) + (sliceable Egg_bar__minus_01_dot_59_bar__plus_00_dot_32_bar__plus_02_dot_11) + (sliceable Lettuce_bar__minus_01_dot_89_bar__plus_01_dot_40_bar__minus_01_dot_07) + (sliceable Apple_bar__plus_01_dot_06_bar__plus_01_dot_72_bar__plus_01_dot_78) + (sliceable Apple_bar__minus_01_dot_36_bar__plus_01_dot_37_bar__minus_01_dot_50) + (sliceable Potato_bar__plus_01_dot_15_bar__plus_01_dot_35_bar__plus_00_dot_86) + (sliceable Tomato_bar__minus_01_dot_66_bar__plus_00_dot_31_bar__plus_02_dot_28) + (sliceable Egg_bar__plus_01_dot_03_bar__plus_01_dot_25_bar__plus_01_dot_24) + (sliceable Tomato_bar__plus_00_dot_78_bar__plus_01_dot_24_bar__plus_01_dot_24) + (sliceable Bread_bar__plus_00_dot_35_bar__plus_01_dot_40_bar__minus_03_dot_12) + + (inReceptacle Pan_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 StoveBurner_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30) + (inReceptacle Bowl_bar__minus_01_dot_79_bar__plus_00_dot_34_bar__minus_02_dot_26 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00) + (inReceptacle Bowl_bar__minus_01_dot_75_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) + (inReceptacle Pot_bar__minus_01_dot_82_bar__plus_00_dot_35_bar__plus_00_dot_41 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47) + (inReceptacle DishSponge_bar__minus_01_dot_75_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) + (inReceptacle PepperShaker_bar__minus_01_dot_88_bar__plus_00_dot_34_bar__plus_00_dot_21 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47) + (inReceptacle Spoon_bar__plus_01_dot_07_bar__plus_00_dot_95_bar__plus_01_dot_05 Drawer_bar__plus_00_dot_71_bar__plus_01_dot_06_bar__plus_01_dot_02) + (inReceptacle Kettle_bar__plus_01_dot_05_bar__plus_00_dot_35_bar__minus_02_dot_16 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 Pan_bar__minus_01_dot_92_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 Apple_bar__minus_01_dot_36_bar__plus_01_dot_37_bar__minus_01_dot_50 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Knife_bar__minus_01_dot_31_bar__plus_01_dot_35_bar__minus_02_dot_76 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle SoapBottle_bar__plus_01_dot_03_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) + (inReceptacle Cup_bar__plus_00_dot_64_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 Bread_bar__minus_01_dot_31_bar__plus_01_dot_40_bar__minus_03_dot_31 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle PaperTowelRoll_bar__minus_01_dot_53_bar__plus_01_dot_43_bar__minus_02_dot_46 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle DishSponge_bar__plus_00_dot_28_bar__plus_01_dot_32_bar__minus_02_dot_68 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Bread_bar__plus_00_dot_35_bar__plus_01_dot_40_bar__minus_03_dot_12 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle SaltShaker_bar__plus_00_dot_49_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 Spatula_bar__minus_02_dot_05_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) + (inReceptacle Kettle_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_77_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 Pot_bar__minus_01_dot_66_bar__plus_01_dot_33_bar__plus_01_dot_09 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Spatula_bar__minus_01_dot_92_bar__plus_01_dot_34_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_40_bar__plus_01_dot_32_bar__plus_00_dot_12 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 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 WineBottle_bar__minus_01_dot_95_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) + (inReceptacle Spoon_bar__plus_00_dot_98_bar__plus_00_dot_74_bar__plus_01_dot_02 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 Spatula_bar__minus_01_dot_56_bar__plus_00_dot_44_bar__minus_00_dot_30 Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43) + (inReceptacle PepperShaker_bar__plus_01_dot_19_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) + (inReceptacle Egg_bar__plus_01_dot_03_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 Egg_bar__plus_00_dot_94_bar__plus_01_dot_25_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_00_dot_78_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 Pan_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 Apple_bar__plus_01_dot_06_bar__plus_01_dot_72_bar__plus_01_dot_78 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92) + (inReceptacle Bowl_bar__plus_00_dot_97_bar__plus_01_dot_52_bar__plus_01_dot_60 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92) + (inReceptacle Potato_bar__plus_01_dot_15_bar__plus_01_dot_35_bar__plus_00_dot_86 Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85) + (inReceptacle Tomato_bar__minus_01_dot_66_bar__plus_00_dot_31_bar__plus_02_dot_28 GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19) + (inReceptacle SoapBottle_bar__minus_01_dot_68_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 Egg_bar__minus_01_dot_59_bar__plus_00_dot_32_bar__plus_02_dot_11 GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19) + (inReceptacle Pan_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__minus_02_dot_20 Toaster_bar__minus_01_dot_89_bar__plus_01_dot_31_bar__minus_02_dot_51) + + + (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 Apple_bar__minus_01_dot_36_bar__plus_01_dot_37_bar__minus_01_dot_50 loc_bar__minus_4_bar_5_bar_3_bar_30) + (objectAtLocation Spoon_bar__plus_00_dot_98_bar__plus_00_dot_74_bar__plus_01_dot_02 loc_bar_0_bar_6_bar_1_bar_60) + (objectAtLocation DishSponge_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_00_dot_11 loc_bar__minus_2_bar_0_bar_3_bar_45) + (objectAtLocation PepperShaker_bar__minus_01_dot_88_bar__plus_00_dot_34_bar__plus_00_dot_21 loc_bar__minus_2_bar_0_bar_3_bar_45) + (objectAtLocation Plate_bar__plus_01_dot_02_bar__plus_01_dot_76_bar__plus_02_dot_17 loc_bar_0_bar_8_bar_1_bar_15) + (objectAtLocation Tomato_bar__plus_00_dot_78_bar__plus_01_dot_24_bar__plus_01_dot_24 loc_bar_1_bar_4_bar_1_bar_45) + (objectAtLocation Spatula_bar__minus_02_dot_05_bar__plus_01_dot_34_bar__plus_01_dot_74 loc_bar__minus_4_bar_5_bar_3_bar_30) + (objectAtLocation Pan_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__minus_02_dot_20 loc_bar__minus_4_bar__minus_9_bar_3_bar_30) + (objectAtLocation Egg_bar__plus_00_dot_94_bar__plus_01_dot_25_bar__plus_01_dot_22 loc_bar_1_bar_4_bar_1_bar_45) + (objectAtLocation Kettle_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) + 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", + "Pick up the kettle to the right of the plate. ", + "Walk over to the sink on the right. ", + "Put the kettle in the sink, rinse it off, and pick it up. ", + "Face the cabinet below the counter to the left of the sink. ", + "Open the door, put the kettle in the cabinet on the right front edge, and close the door. " + ], + "task_desc": "To rinse a kettle and put it in the cabinet. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A19LVWX8ZLO6CS_3Q5C1WP23PSW6OLTD25GFDWSU7Z516", + "high_descs": [ + "Turn right and walk forward to the stove, then turn right to face the kitchen counter.", + "Pick up the kettle near the back of the counter.", + "Turn right, step forward, then turn left to face the sink", + "place the kettle in the sink, turn on the water for a few seconds, then turn off the water. pick up the kettle.", + "turn around, step forward, turn right, step forward, then turn right to face the kitchen counter.", + "Open the bottom left cabinet door, place the kettle inside, close the door." + ], + "task_desc": "Wash the kettle and put away in the cabinet.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A31681CCEVDIH3_3TPWUS5F8CSA6AABP0H9M9SWI17WCH", + "high_descs": [ + "Turn right to walk to the counter to the left of the sink.", + "Pick up the teapot from the counter.", + "Turn right to walk to the sink.", + "Rinse the teapot in the sink, removing it afterwards.", + "Turn left to face the cabinet to the left of and under the sink.", + "Place the teapot in the cabinet." + ], + "task_desc": "Wash a teapot to put it away in a 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-Kettle-None-Cabinet-3/trial_T20190909_151546_297502/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Kettle-None-Cabinet-3/trial_T20190909_151546_297502/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..cbce1dac649b140b0a0af282a6d5c877a287071f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Kettle-None-Cabinet-3/trial_T20190909_151546_297502/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 kettle and put it in cabinet.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_151546_297502)\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_81 - object\n Apple_bar__minus_01_dot_36_bar__plus_01_dot_37_bar__minus_00_dot_57 - object\n Apple_bar__minus_01_dot_63_bar__plus_00_dot_33_bar__plus_02_dot_23 - object\n Bowl_bar__plus_00_dot_28_bar__plus_01_dot_32_bar__minus_03_dot_12 - object\n Bowl_bar__plus_00_dot_49_bar__plus_01_dot_32_bar__minus_02_dot_79 - object\n Bowl_bar__plus_00_dot_90_bar__plus_01_dot_32_bar__minus_02_dot_79 - object\n Bread_bar__minus_01_dot_51_bar__plus_01_dot_38_bar__plus_00_dot_66 - object\n Bread_bar__minus_01_dot_53_bar__plus_01_dot_40_bar__plus_01_dot_42 - 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_28_bar__plus_01_dot_32_bar__minus_02_dot_79 - object\n Cup_bar__minus_01_dot_45_bar__plus_01_dot_32_bar__minus_03_dot_09 - object\n Cup_bar__minus_01_dot_73_bar__plus_00_dot_34_bar__minus_02_dot_26 - object\n DishSponge_bar__minus_01_dot_40_bar__plus_01_dot_32_bar__minus_02_dot_20 - object\n DishSponge_bar__minus_01_dot_60_bar__plus_00_dot_42_bar__minus_01_dot_28 - object\n DishSponge_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_01_dot_63 - object\n Egg_bar__plus_00_dot_90_bar__plus_01_dot_80_bar__plus_01_dot_99 - object\n Egg_bar__plus_01_dot_07_bar__plus_01_dot_57_bar__plus_01_dot_54 - object\n Egg_bar__plus_01_dot_25_bar__plus_01_dot_35_bar__plus_00_dot_97 - 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_03_bar__plus_01_dot_32_bar__minus_00_dot_94 - 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_61_bar__plus_00_dot_34_bar__plus_01_dot_11 - object\n Knife_bar__minus_01_dot_31_bar__plus_01_dot_35_bar__minus_02_dot_87 - object\n Knife_bar__minus_02_dot_05_bar__plus_01_dot_35_bar__minus_02_dot_98 - object\n Lettuce_bar__minus_01_dot_89_bar__plus_01_dot_40_bar__minus_01_dot_07 - object\n Lettuce_bar__minus_01_dot_92_bar__plus_01_dot_40_bar__minus_02_dot_72 - object\n LightSwitch_bar__plus_01_dot_39_bar__plus_01_dot_57_bar__minus_00_dot_66 - object\n Mug_bar__minus_01_dot_67_bar__plus_00_dot_34_bar__minus_01_dot_76 - object\n Mug_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_00_dot_31 - object\n Mug_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__plus_00_dot_77 - object\n Pan_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_00_dot_41 - object\n Pan_bar__minus_01_dot_88_bar__plus_00_dot_33_bar__minus_02_dot_04 - object\n PaperTowelRoll_bar__plus_01_dot_29_bar__plus_01_dot_43_bar__minus_00_dot_94 - object\n PepperShaker_bar__plus_00_dot_78_bar__plus_01_dot_20_bar__plus_01_dot_24 - object\n PepperShaker_bar__minus_01_dot_69_bar__plus_00_dot_42_bar__minus_01_dot_15 - object\n Plate_bar__minus_01_dot_24_bar__plus_01_dot_32_bar__minus_03_dot_31 - object\n Potato_bar__plus_01_dot_02_bar__plus_01_dot_56_bar__plus_01_dot_66 - object\n Potato_bar__plus_01_dot_10_bar__plus_01_dot_80_bar__plus_01_dot_99 - object\n Pot_bar__plus_00_dot_82_bar__plus_00_dot_35_bar__minus_02_dot_27 - 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__minus_01_dot_91_bar__plus_00_dot_34_bar__minus_01_dot_86 - object\n SaltShaker_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__minus_02_dot_72 - object\n Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98 - object\n SoapBottle_bar__plus_00_dot_94_bar__plus_01_dot_21_bar__plus_01_dot_24 - object\n Spatula_bar__minus_01_dot_53_bar__plus_01_dot_34_bar__plus_02_dot_07 - object\n Spatula_bar__minus_01_dot_79_bar__plus_01_dot_34_bar__minus_01_dot_94 - object\n Spoon_bar__minus_01_dot_38_bar__plus_01_dot_32_bar__minus_02_dot_98 - object\n StoveKnob_bar__minus_00_dot_19_bar__plus_01_dot_34_bar__minus_02_dot_74 - object\n StoveKnob_bar__minus_00_dot_34_bar__plus_01_dot_34_bar__minus_02_dot_74 - object\n StoveKnob_bar__minus_00_dot_57_bar__plus_01_dot_34_bar__minus_02_dot_74 - object\n StoveKnob_bar__minus_00_dot_71_bar__plus_01_dot_34_bar__minus_02_dot_74 - object\n Tomato_bar__plus_00_dot_82_bar__plus_01_dot_56_bar__plus_01_dot_48 - object\n Tomato_bar__plus_01_dot_10_bar__plus_01_dot_79_bar__plus_02_dot_17 - object\n Tomato_bar__plus_01_dot_28_bar__plus_01_dot_24_bar__plus_01_dot_24 - object\n Window_bar__minus_02_dot_57_bar__plus_01_dot_80_bar__minus_00_dot_82 - object\n WineBottle_bar__plus_01_dot_03_bar__plus_01_dot_32_bar__minus_02_dot_42 - object\n WineBottle_bar__minus_01_dot_36_bar__plus_01_dot_32_bar__minus_00_dot_10 - object\n WineBottle_bar__minus_01_dot_88_bar__plus_00_dot_34_bar__plus_00_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_4_bar_2_bar_3_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_4_bar_1_bar_3_bar_60 - 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_4_bar_2_bar_2_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 DishSponge_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_01_dot_63 DishSpongeType)\n (objectType SaltShaker_bar__minus_01_dot_91_bar__plus_00_dot_34_bar__minus_01_dot_86 SaltShakerType)\n (objectType StoveKnob_bar__minus_00_dot_57_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType)\n (objectType Lettuce_bar__minus_01_dot_92_bar__plus_01_dot_40_bar__minus_02_dot_72 LettuceType)\n (objectType Apple_bar__minus_01_dot_63_bar__plus_00_dot_33_bar__plus_02_dot_23 AppleType)\n (objectType Mug_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__plus_00_dot_77 MugType)\n (objectType Potato_bar__plus_01_dot_02_bar__plus_01_dot_56_bar__plus_01_dot_66 PotatoType)\n (objectType Bread_bar__minus_01_dot_51_bar__plus_01_dot_38_bar__plus_00_dot_66 BreadType)\n (objectType Spoon_bar__minus_01_dot_38_bar__plus_01_dot_32_bar__minus_02_dot_98 SpoonType)\n (objectType Cup_bar__minus_01_dot_73_bar__plus_00_dot_34_bar__minus_02_dot_26 CupType)\n (objectType Lettuce_bar__minus_01_dot_89_bar__plus_01_dot_40_bar__minus_01_dot_07 LettuceType)\n (objectType Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98 SinkType)\n (objectType Knife_bar__minus_02_dot_05_bar__plus_01_dot_35_bar__minus_02_dot_98 KnifeType)\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 Pan_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_00_dot_41 PanType)\n (objectType PepperShaker_bar__plus_00_dot_78_bar__plus_01_dot_20_bar__plus_01_dot_24 PepperShakerType)\n (objectType Spatula_bar__minus_01_dot_79_bar__plus_01_dot_34_bar__minus_01_dot_94 SpatulaType)\n (objectType Pot_bar__plus_00_dot_82_bar__plus_00_dot_35_bar__minus_02_dot_27 PotType)\n (objectType Potato_bar__plus_01_dot_10_bar__plus_01_dot_80_bar__plus_01_dot_99 PotatoType)\n (objectType Apple_bar__plus_01_dot_18_bar__plus_01_dot_36_bar__plus_00_dot_81 AppleType)\n (objectType Apple_bar__minus_01_dot_36_bar__plus_01_dot_37_bar__minus_00_dot_57 AppleType)\n (objectType Kettle_bar__minus_01_dot_61_bar__plus_00_dot_34_bar__plus_01_dot_11 KettleType)\n (objectType StoveKnob_bar__minus_00_dot_19_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType)\n (objectType SaltShaker_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__minus_02_dot_72 SaltShakerType)\n (objectType Pan_bar__minus_01_dot_88_bar__plus_00_dot_33_bar__minus_02_dot_04 PanType)\n (objectType WineBottle_bar__plus_01_dot_03_bar__plus_01_dot_32_bar__minus_02_dot_42 WineBottleType)\n (objectType Bowl_bar__plus_00_dot_90_bar__plus_01_dot_32_bar__minus_02_dot_79 BowlType)\n (objectType HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 HousePlantType)\n (objectType DishSponge_bar__minus_01_dot_60_bar__plus_00_dot_42_bar__minus_01_dot_28 DishSpongeType)\n (objectType 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WineBottle_bar__minus_01_dot_36_bar__plus_01_dot_32_bar__minus_00_dot_10)\n (coolable Mug_bar__minus_01_dot_67_bar__plus_00_dot_34_bar__minus_01_dot_76)\n (coolable Plate_bar__minus_01_dot_24_bar__plus_01_dot_32_bar__minus_03_dot_31)\n (coolable Cup_bar__minus_01_dot_45_bar__plus_01_dot_32_bar__minus_03_dot_09)\n (coolable Cup_bar__plus_00_dot_28_bar__plus_01_dot_32_bar__minus_02_dot_79)\n (coolable Pot_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97)\n (coolable Tomato_bar__plus_00_dot_82_bar__plus_01_dot_56_bar__plus_01_dot_48)\n (coolable Bowl_bar__plus_00_dot_49_bar__plus_01_dot_32_bar__minus_02_dot_79)\n (coolable Tomato_bar__plus_01_dot_28_bar__plus_01_dot_24_bar__plus_01_dot_24)\n (coolable Egg_bar__plus_00_dot_90_bar__plus_01_dot_80_bar__plus_01_dot_99)\n (coolable Egg_bar__plus_01_dot_25_bar__plus_01_dot_35_bar__plus_00_dot_97)\n (coolable Pot_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30)\n (coolable Tomato_bar__plus_01_dot_10_bar__plus_01_dot_79_bar__plus_02_dot_17)\n (coolable Bowl_bar__plus_00_dot_28_bar__plus_01_dot_32_bar__minus_03_dot_12)\n (coolable WineBottle_bar__minus_01_dot_88_bar__plus_00_dot_34_bar__plus_00_dot_11)\n (coolable Egg_bar__plus_01_dot_07_bar__plus_01_dot_57_bar__plus_01_dot_54)\n \n \n \n \n \n (sliceable Lettuce_bar__minus_01_dot_92_bar__plus_01_dot_40_bar__minus_02_dot_72)\n (sliceable Apple_bar__minus_01_dot_63_bar__plus_00_dot_33_bar__plus_02_dot_23)\n (sliceable Potato_bar__plus_01_dot_02_bar__plus_01_dot_56_bar__plus_01_dot_66)\n (sliceable Bread_bar__minus_01_dot_51_bar__plus_01_dot_38_bar__plus_00_dot_66)\n (sliceable Lettuce_bar__minus_01_dot_89_bar__plus_01_dot_40_bar__minus_01_dot_07)\n (sliceable Potato_bar__plus_01_dot_10_bar__plus_01_dot_80_bar__plus_01_dot_99)\n (sliceable Apple_bar__plus_01_dot_18_bar__plus_01_dot_36_bar__plus_00_dot_81)\n (sliceable Apple_bar__minus_01_dot_36_bar__plus_01_dot_37_bar__minus_00_dot_57)\n (sliceable 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Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00)\n (inReceptacle SaltShaker_bar__minus_01_dot_91_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_88_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 Mug_bar__minus_01_dot_82_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)\n (inReceptacle Pan_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_00_dot_41 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47)\n (inReceptacle Pot_bar__plus_00_dot_82_bar__plus_00_dot_35_bar__minus_02_dot_27 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05)\n (inReceptacle Lettuce_bar__minus_01_dot_92_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 Mug_bar__minus_02_dot_18_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)\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 Spoon_bar__minus_01_dot_38_bar__plus_01_dot_32_bar__minus_02_dot_98 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Knife_bar__minus_02_dot_05_bar__plus_01_dot_35_bar__minus_02_dot_98 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__minus_01_dot_94 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Apple_bar__minus_01_dot_36_bar__plus_01_dot_37_bar__minus_00_dot_57 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle SaltShaker_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__minus_02_dot_72 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle WineBottle_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 Bowl_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 Bread_bar__minus_01_dot_53_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)\n (inReceptacle WineBottle_bar__minus_01_dot_36_bar__plus_01_dot_32_bar__minus_00_dot_10 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Knife_bar__minus_01_dot_31_bar__plus_01_dot_35_bar__minus_02_dot_87 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Plate_bar__minus_01_dot_24_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 Cup_bar__plus_00_dot_28_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 Cup_bar__minus_01_dot_45_bar__plus_01_dot_32_bar__minus_03_dot_09 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Bowl_bar__plus_00_dot_49_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 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DishSponge_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 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_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)\n (inReceptacle DishSponge_bar__minus_01_dot_60_bar__plus_00_dot_42_bar__minus_01_dot_28 Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22)\n (inReceptacle SoapBottle_bar__plus_00_dot_94_bar__plus_01_dot_21_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_78_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 Tomato_bar__plus_01_dot_28_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)\n (inReceptacle Tomato_bar__plus_00_dot_82_bar__plus_01_dot_56_bar__plus_01_dot_48 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92)\n (inReceptacle Egg_bar__plus_00_dot_90_bar__plus_01_dot_80_bar__plus_01_dot_99 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92)\n (inReceptacle Potato_bar__plus_01_dot_10_bar__plus_01_dot_80_bar__plus_01_dot_99 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92)\n (inReceptacle Tomato_bar__plus_01_dot_10_bar__plus_01_dot_79_bar__plus_02_dot_17 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92)\n (inReceptacle Potato_bar__plus_01_dot_02_bar__plus_01_dot_56_bar__plus_01_dot_66 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92)\n (inReceptacle Egg_bar__plus_01_dot_07_bar__plus_01_dot_57_bar__plus_01_dot_54 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 Apple_bar__plus_01_dot_18_bar__plus_01_dot_36_bar__plus_00_dot_81 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_23 GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19)\n (inReceptacleObject Mug_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_00_dot_31 Pan_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_00_dot_41)\n (inReceptacleObject Pan_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_00_dot_41 Mug_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_00_dot_31)\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__minus_01_dot_67_bar__plus_00_dot_34_bar__minus_01_dot_76 loc_bar__minus_2_bar__minus_6_bar_3_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_63_bar__plus_00_dot_33_bar__plus_02_dot_23 loc_bar__minus_4_bar_5_bar_0_bar_60)\n (objectAtLocation DishSponge_bar__minus_01_dot_40_bar__plus_01_dot_32_bar__minus_02_dot_20 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation PepperShaker_bar__minus_01_dot_69_bar__plus_00_dot_42_bar__minus_01_dot_15 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Tomato_bar__plus_01_dot_10_bar__plus_01_dot_79_bar__plus_02_dot_17 loc_bar_0_bar_8_bar_1_bar_60)\n (objectAtLocation Spatula_bar__minus_01_dot_79_bar__plus_01_dot_34_bar__minus_01_dot_94 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Lettuce_bar__minus_01_dot_89_bar__plus_01_dot_40_bar__minus_01_dot_07 loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\n (objectAtLocation WineBottle_bar__minus_01_dot_36_bar__plus_01_dot_32_bar__minus_00_dot_10 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation SaltShaker_bar__minus_01_dot_91_bar__plus_00_dot_34_bar__minus_01_dot_86 loc_bar__minus_2_bar__minus_6_bar_3_bar_45)\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_00_dot_90_bar__plus_01_dot_80_bar__plus_01_dot_99 loc_bar_0_bar_8_bar_1_bar_60)\n (objectAtLocation Cup_bar__minus_01_dot_73_bar__plus_00_dot_34_bar__minus_02_dot_26 loc_bar__minus_2_bar__minus_6_bar_3_bar_45)\n (objectAtLocation Potato_bar__plus_01_dot_10_bar__plus_01_dot_80_bar__plus_01_dot_99 loc_bar_0_bar_8_bar_1_bar_60)\n (objectAtLocation Bowl_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 Knife_bar__minus_01_dot_31_bar__plus_01_dot_35_bar__minus_02_dot_87 loc_bar__minus_4_bar_5_bar_3_bar_30)\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 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 Apple_bar__minus_01_dot_36_bar__plus_01_dot_37_bar__minus_00_dot_57 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Mug_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__plus_00_dot_77 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Bowl_bar__plus_00_dot_49_bar__plus_01_dot_32_bar__minus_02_dot_79 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Tomato_bar__plus_01_dot_28_bar__plus_01_dot_24_bar__plus_01_dot_24 loc_bar_1_bar_4_bar_1_bar_45)\n (objectAtLocation Cup_bar__minus_01_dot_45_bar__plus_01_dot_32_bar__minus_03_dot_09 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Egg_bar__plus_01_dot_07_bar__plus_01_dot_57_bar__plus_01_dot_54 loc_bar_0_bar_8_bar_1_bar_60)\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 WineBottle_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 DishSponge_bar__minus_01_dot_60_bar__plus_00_dot_42_bar__minus_01_dot_28 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\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_53_bar__plus_01_dot_40_bar__plus_01_dot_42 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Pot_bar__plus_00_dot_82_bar__plus_00_dot_35_bar__minus_02_dot_27 loc_bar__minus_1_bar__minus_9_bar_1_bar_60)\n (objectAtLocation Knife_bar__minus_02_dot_05_bar__plus_01_dot_35_bar__minus_02_dot_98 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Bowl_bar__plus_00_dot_28_bar__plus_01_dot_32_bar__minus_03_dot_12 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Potato_bar__plus_01_dot_02_bar__plus_01_dot_56_bar__plus_01_dot_66 loc_bar_0_bar_8_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__plus_00_dot_94_bar__plus_01_dot_21_bar__plus_01_dot_24 loc_bar_1_bar_4_bar_1_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_03_bar__plus_01_dot_32_bar__minus_00_dot_94 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Cup_bar__plus_00_dot_28_bar__plus_01_dot_32_bar__minus_02_dot_79 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Kettle_bar__minus_01_dot_61_bar__plus_00_dot_34_bar__plus_01_dot_11 loc_bar__minus_2_bar_7_bar_3_bar_45)\n (objectAtLocation Egg_bar__plus_01_dot_25_bar__plus_01_dot_35_bar__plus_00_dot_97 loc_bar_1_bar_3_bar_1_bar_30)\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_75_bar__plus_00_dot_34_bar__plus_00_dot_41 loc_bar__minus_4_bar_1_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__minus_02_dot_72 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation WineBottle_bar__minus_01_dot_88_bar__plus_00_dot_34_bar__plus_00_dot_11 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation Lettuce_bar__minus_01_dot_92_bar__plus_01_dot_40_bar__minus_02_dot_72 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__plus_02_dot_07 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation PaperTowelRoll_bar__plus_01_dot_29_bar__plus_01_dot_43_bar__minus_00_dot_94 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Tomato_bar__plus_00_dot_82_bar__plus_01_dot_56_bar__plus_01_dot_48 loc_bar_0_bar_8_bar_1_bar_60)\n (objectAtLocation Plate_bar__minus_01_dot_24_bar__plus_01_dot_32_bar__minus_03_dot_31 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation PepperShaker_bar__plus_00_dot_78_bar__plus_01_dot_20_bar__plus_01_dot_24 loc_bar_1_bar_4_bar_1_bar_45)\n (objectAtLocation Chair_bar__plus_00_dot_60_bar__plus_00_dot_95_bar__minus_01_dot_09 loc_bar_0_bar__minus_4_bar_1_bar_60)\n (objectAtLocation DishSponge_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_01_dot_63 loc_bar__minus_2_bar_7_bar_3_bar_45)\n (objectAtLocation Spoon_bar__minus_01_dot_38_bar__plus_01_dot_32_bar__minus_02_dot_98 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Apple_bar__plus_01_dot_18_bar__plus_01_dot_36_bar__plus_00_dot_81 loc_bar_1_bar_3_bar_1_bar_30)\n (objectAtLocation Mug_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_00_dot_31 loc_bar__minus_4_bar_2_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 KettleType)\n (receptacleType ?r CabinetType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to cabinet 2", "open cabinet 2", "take kettle 1 from cabinet 2", "go to sinkbasin 1", "clean kettle 1 with sinkbasin 1", "go to cabinet 2", "move kettle 1 to cabinet 2"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Kettle-None-Cabinet-3/trial_T20190909_151546_297502/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Kettle-None-Cabinet-3/trial_T20190909_151546_297502/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..abe0315c6c28fc4d80fd22b569893c2412689e59 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Kettle-None-Cabinet-3/trial_T20190909_151546_297502/initial_state.pddl @@ -0,0 +1,962 @@ + +(define (problem plan_trial_T20190909_151546_297502) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_81 - object + Apple_bar__minus_01_dot_36_bar__plus_01_dot_37_bar__minus_00_dot_57 - object + 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Cup_bar__minus_01_dot_45_bar__plus_01_dot_32_bar__minus_03_dot_09) + (heatable Cup_bar__plus_00_dot_28_bar__plus_01_dot_32_bar__minus_02_dot_79) + (heatable Tomato_bar__plus_00_dot_82_bar__plus_01_dot_56_bar__plus_01_dot_48) + (heatable Tomato_bar__plus_01_dot_28_bar__plus_01_dot_24_bar__plus_01_dot_24) + (heatable Egg_bar__plus_00_dot_90_bar__plus_01_dot_80_bar__plus_01_dot_99) + (heatable Egg_bar__plus_01_dot_25_bar__plus_01_dot_35_bar__plus_00_dot_97) + (heatable Tomato_bar__plus_01_dot_10_bar__plus_01_dot_79_bar__plus_02_dot_17) + (heatable Egg_bar__plus_01_dot_07_bar__plus_01_dot_57_bar__plus_01_dot_54) + (coolable Lettuce_bar__minus_01_dot_92_bar__plus_01_dot_40_bar__minus_02_dot_72) + (coolable Apple_bar__minus_01_dot_63_bar__plus_00_dot_33_bar__plus_02_dot_23) + (coolable Mug_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__plus_00_dot_77) + (coolable Potato_bar__plus_01_dot_02_bar__plus_01_dot_56_bar__plus_01_dot_66) + (coolable 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Mug_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_00_dot_31) + (coolable WineBottle_bar__minus_01_dot_36_bar__plus_01_dot_32_bar__minus_00_dot_10) + (coolable Mug_bar__minus_01_dot_67_bar__plus_00_dot_34_bar__minus_01_dot_76) + (coolable Plate_bar__minus_01_dot_24_bar__plus_01_dot_32_bar__minus_03_dot_31) + (coolable Cup_bar__minus_01_dot_45_bar__plus_01_dot_32_bar__minus_03_dot_09) + (coolable Cup_bar__plus_00_dot_28_bar__plus_01_dot_32_bar__minus_02_dot_79) + (coolable Pot_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97) + (coolable Tomato_bar__plus_00_dot_82_bar__plus_01_dot_56_bar__plus_01_dot_48) + (coolable Bowl_bar__plus_00_dot_49_bar__plus_01_dot_32_bar__minus_02_dot_79) + (coolable Tomato_bar__plus_01_dot_28_bar__plus_01_dot_24_bar__plus_01_dot_24) + (coolable Egg_bar__plus_00_dot_90_bar__plus_01_dot_80_bar__plus_01_dot_99) + (coolable Egg_bar__plus_01_dot_25_bar__plus_01_dot_35_bar__plus_00_dot_97) + (coolable 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Mug_bar__minus_01_dot_67_bar__plus_00_dot_34_bar__minus_01_dot_76 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00) + (inReceptacle SaltShaker_bar__minus_01_dot_91_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) + (inReceptacle Pan_bar__minus_01_dot_88_bar__plus_00_dot_33_bar__minus_02_dot_04 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00) + (inReceptacle WineBottle_bar__minus_01_dot_88_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) + (inReceptacle Mug_bar__minus_01_dot_82_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 Pan_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_00_dot_41 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47) + (inReceptacle Pot_bar__plus_00_dot_82_bar__plus_00_dot_35_bar__minus_02_dot_27 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05) + (inReceptacle Lettuce_bar__minus_01_dot_92_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 Mug_bar__minus_02_dot_18_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 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 Spoon_bar__minus_01_dot_38_bar__plus_01_dot_32_bar__minus_02_dot_98 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Knife_bar__minus_02_dot_05_bar__plus_01_dot_35_bar__minus_02_dot_98 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_01_dot_94 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Apple_bar__minus_01_dot_36_bar__plus_01_dot_37_bar__minus_00_dot_57 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle SaltShaker_bar__minus_02_dot_18_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 WineBottle_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 Bowl_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 Bread_bar__minus_01_dot_53_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 WineBottle_bar__minus_01_dot_36_bar__plus_01_dot_32_bar__minus_00_dot_10 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Knife_bar__minus_01_dot_31_bar__plus_01_dot_35_bar__minus_02_dot_87 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Plate_bar__minus_01_dot_24_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 Cup_bar__plus_00_dot_28_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 Cup_bar__minus_01_dot_45_bar__plus_01_dot_32_bar__minus_03_dot_09 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Bowl_bar__plus_00_dot_49_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 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 PaperTowelRoll_bar__plus_01_dot_29_bar__plus_01_dot_43_bar__minus_00_dot_94 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle DishSponge_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 Bowl_bar__plus_00_dot_28_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 Spatula_bar__minus_01_dot_53_bar__plus_01_dot_34_bar__plus_02_dot_07 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Kettle_bar__minus_01_dot_61_bar__plus_00_dot_34_bar__plus_01_dot_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_63 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31) + (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_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 DishSponge_bar__minus_01_dot_60_bar__plus_00_dot_42_bar__minus_01_dot_28 Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22) + (inReceptacle SoapBottle_bar__plus_00_dot_94_bar__plus_01_dot_21_bar__plus_01_dot_24 SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87) + (inReceptacle PepperShaker_bar__plus_00_dot_78_bar__plus_01_dot_20_bar__plus_01_dot_24 SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87) + (inReceptacle Tomato_bar__plus_01_dot_28_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 Tomato_bar__plus_00_dot_82_bar__plus_01_dot_56_bar__plus_01_dot_48 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92) + (inReceptacle Egg_bar__plus_00_dot_90_bar__plus_01_dot_80_bar__plus_01_dot_99 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92) + (inReceptacle Potato_bar__plus_01_dot_10_bar__plus_01_dot_80_bar__plus_01_dot_99 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92) + (inReceptacle Tomato_bar__plus_01_dot_10_bar__plus_01_dot_79_bar__plus_02_dot_17 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_56_bar__plus_01_dot_66 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92) + (inReceptacle Egg_bar__plus_01_dot_07_bar__plus_01_dot_57_bar__plus_01_dot_54 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92) + (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) + (inReceptacle Apple_bar__plus_01_dot_18_bar__plus_01_dot_36_bar__plus_00_dot_81 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_23 GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19) + (inReceptacleObject Mug_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_00_dot_31 Pan_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_00_dot_41) + (inReceptacleObject Pan_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_00_dot_41 Mug_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_00_dot_31) + + + (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 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"object_toggles": [], + "random_seed": 3869908870, + "scene_num": 3 + }, + "task_id": "trial_T20190909_151546_297502", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1O3TWBUDONVLO_320DUZ38GAD1H2QHKNUDNAJ3EWMJGD", + "high_descs": [ + "Turn right to face the cabinet under the right loaf of bread on the counter.", + "Pick up the tea pot from the cabinet under the right loaf of bread.", + "Take a step to the left to face the sink.", + "Wash the tea pot in the sink and remove it.", + "Take a step to the left and look down to face the left most cabinet.", + "Place the tea pot in the left most cabinet under the sink." + ], + "task_desc": "TO wash a tea pot and put it in the left most cabinet under the sink.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1ELPYAFO7MANS_3OONKJ5DKFAJRW93KEU4UV9SXD8OBO", + "high_descs": [ + "Turn around and take a step, the face the left counter.", + "Take the kettle out of the cabinet under the counter, the one that's in between the two loaves of bread.", + "Turn left and walk to the sink.", + "Wash the kettle in the sink.", + "Take a step left.", + "Place the kettle in the bottom left shelf, in front of the pan." + ], + "task_desc": "Place a clean kettle in a cabinet.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A31681CCEVDIH3_3QXNC7EIPLMF0M2NK9EXDOIKBAI09T", + "high_descs": [ + "Turn to face the rightmost loaf of bread on the countertop.", + "Take the tea kettle out of the cabinet directly below the rightmost loaf of bread.", + "Turn left to walk to the sink.", + "Rinse the tea kettle in the sink.", + "Turn left to face the spatula on the counter.", + "Put the tea kettle away in the cabinet directly below the spatula on the counter." + ], + "task_desc": "Rinse a tea kettle to put away in a cabinet.", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Kettle-None-Cabinet-3/trial_T20190909_151623_379326/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Kettle-None-Cabinet-3/trial_T20190909_151623_379326/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..3643b882dfbd610f0ab1d34879cb1c03f9178f8f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Kettle-None-Cabinet-3/trial_T20190909_151623_379326/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 kettle and put it in cabinet.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_151623_379326)\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_86_bar__plus_01_dot_26_bar__plus_01_dot_24 - object\n Apple_bar__plus_01_dot_10_bar__plus_01_dot_72_bar__plus_01_dot_60 - object\n Apple_bar__minus_01_dot_40_bar__plus_01_dot_37_bar__minus_02_dot_20 - object\n Bowl_bar__plus_01_dot_02_bar__plus_01_dot_76_bar__plus_02_dot_29 - object\n Bowl_bar__minus_01_dot_61_bar__plus_00_dot_34_bar__plus_00_dot_41 - object\n Bowl_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_00_dot_21 - object\n Bread_bar__plus_00_dot_56_bar__plus_01_dot_40_bar__minus_03_dot_23 - object\n Bread_bar__minus_02_dot_05_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_21_bar__plus_01_dot_31_bar__plus_01_dot_02 - object\n Cup_bar__plus_01_dot_28_bar__plus_01_dot_21_bar__plus_01_dot_24 - object\n DishSponge_bar__plus_01_dot_05_bar__plus_00_dot_34_bar__minus_01_dot_75 - object\n Egg_bar__minus_02_dot_05_bar__plus_01_dot_36_bar__minus_01_dot_68 - 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_95_bar__plus_00_dot_98 - object\n Fork_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__plus_00_dot_45 - 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_45_bar__plus_01_dot_32_bar__minus_02_dot_76 - object\n Knife_bar__plus_00_dot_72_bar__plus_01_dot_32_bar__minus_02_dot_20 - object\n Knife_bar__minus_01_dot_66_bar__plus_01_dot_35_bar__minus_02_dot_20 - object\n Knife_bar__minus_01_dot_79_bar__plus_01_dot_35_bar__plus_01_dot_42 - object\n Lettuce_bar__plus_00_dot_56_bar__plus_01_dot_40_bar__minus_02_dot_79 - object\n Lettuce_bar__minus_01_dot_89_bar__plus_01_dot_40_bar__minus_01_dot_07 - object\n LightSwitch_bar__plus_01_dot_39_bar__plus_01_dot_57_bar__minus_00_dot_66 - object\n Mug_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__minus_02_dot_20 - object\n Pan_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 - object\n PaperTowelRoll_bar__minus_01_dot_40_bar__plus_01_dot_43_bar__plus_02_dot_07 - object\n PepperShaker_bar__minus_01_dot_67_bar__plus_00_dot_34_bar__minus_01_dot_96 - object\n PepperShaker_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__plus_00_dot_77 - object\n Plate_bar__plus_01_dot_05_bar__plus_00_dot_35_bar__minus_02_dot_27 - object\n Plate_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_01_dot_11 - object\n Potato_bar__plus_01_dot_07_bar__plus_01_dot_56_bar__plus_01_dot_66 - object\n Potato_bar__minus_01_dot_61_bar__plus_00_dot_32_bar__plus_02_dot_11 - object\n Pot_bar__plus_01_dot_16_bar__plus_01_dot_33_bar__minus_02_dot_05 - 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 SaltShaker_bar__plus_00_dot_98_bar__plus_00_dot_34_bar__minus_01_dot_85 - object\n SaltShaker_bar__minus_01_dot_17_bar__plus_01_dot_32_bar__minus_03_dot_09 - object\n SaltShaker_bar__minus_01_dot_73_bar__plus_00_dot_34_bar__minus_02_dot_16 - object\n Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98 - object\n SoapBottle_bar__minus_01_dot_66_bar__plus_00_dot_28_bar__plus_02_dot_23 - object\n Spatula_bar__minus_02_dot_18_bar__plus_01_dot_34_bar__minus_02_dot_72 - object\n Spoon_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__plus_00_dot_77 - object\n StoveKnob_bar__minus_00_dot_19_bar__plus_01_dot_34_bar__minus_02_dot_74 - object\n StoveKnob_bar__minus_00_dot_34_bar__plus_01_dot_34_bar__minus_02_dot_74 - object\n StoveKnob_bar__minus_00_dot_57_bar__plus_01_dot_34_bar__minus_02_dot_74 - object\n StoveKnob_bar__minus_00_dot_71_bar__plus_01_dot_34_bar__minus_02_dot_74 - object\n Tomato_bar__plus_00_dot_92_bar__plus_01_dot_56_bar__plus_01_dot_79 - object\n Tomato_bar__plus_01_dot_03_bar__plus_01_dot_24_bar__plus_01_dot_25 - object\n Tomato_bar__minus_02_dot_18_bar__plus_01_dot_36_bar__plus_00_dot_45 - 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_09_bar__plus_01_dot_32_bar__minus_03_dot_31 - object\n WineBottle_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__minus_02_dot_98 - object\n WineBottle_bar__minus_01_dot_60_bar__plus_00_dot_34_bar__minus_01_dot_76 - 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_3_bar__minus_2_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 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(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 Lettuce_bar__plus_00_dot_56_bar__plus_01_dot_40_bar__minus_02_dot_79 LettuceType)\n (objectType StoveKnob_bar__minus_00_dot_57_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType)\n (objectType Plate_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_01_dot_11 PlateType)\n (objectType WineBottle_bar__minus_01_dot_09_bar__plus_01_dot_32_bar__minus_03_dot_31 WineBottleType)\n (objectType Pot_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 PotType)\n (objectType Pan_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 PanType)\n (objectType Apple_bar__plus_00_dot_86_bar__plus_01_dot_26_bar__plus_01_dot_24 AppleType)\n (objectType 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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 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Cup_bar__plus_01_dot_21_bar__plus_01_dot_31_bar__plus_01_dot_02)\n (coolable Lettuce_bar__plus_00_dot_56_bar__plus_01_dot_40_bar__minus_02_dot_79)\n (coolable Plate_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_01_dot_11)\n (coolable WineBottle_bar__minus_01_dot_09_bar__plus_01_dot_32_bar__minus_03_dot_31)\n (coolable Pot_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97)\n (coolable Pan_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97)\n (coolable Apple_bar__plus_00_dot_86_bar__plus_01_dot_26_bar__plus_01_dot_24)\n (coolable Lettuce_bar__minus_01_dot_89_bar__plus_01_dot_40_bar__minus_01_dot_07)\n (coolable Mug_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__minus_02_dot_20)\n (coolable Plate_bar__plus_01_dot_05_bar__plus_00_dot_35_bar__minus_02_dot_27)\n (coolable Pot_bar__plus_01_dot_16_bar__plus_01_dot_33_bar__minus_02_dot_05)\n (coolable Potato_bar__minus_01_dot_61_bar__plus_00_dot_32_bar__plus_02_dot_11)\n (coolable Bowl_bar__minus_01_dot_61_bar__plus_00_dot_34_bar__plus_00_dot_41)\n (coolable Cup_bar__plus_01_dot_28_bar__plus_01_dot_21_bar__plus_01_dot_24)\n (coolable Potato_bar__plus_01_dot_07_bar__plus_01_dot_56_bar__plus_01_dot_66)\n (coolable Apple_bar__minus_01_dot_40_bar__plus_01_dot_37_bar__minus_02_dot_20)\n (coolable Apple_bar__plus_01_dot_10_bar__plus_01_dot_72_bar__plus_01_dot_60)\n (coolable WineBottle_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__minus_02_dot_98)\n (coolable Bread_bar__plus_00_dot_56_bar__plus_01_dot_40_bar__minus_03_dot_23)\n (coolable Bread_bar__minus_02_dot_05_bar__plus_01_dot_40_bar__minus_02_dot_72)\n (coolable Tomato_bar__plus_00_dot_92_bar__plus_01_dot_56_bar__plus_01_dot_79)\n (coolable Egg_bar__minus_02_dot_05_bar__plus_01_dot_36_bar__minus_01_dot_68)\n (coolable Bowl_bar__plus_01_dot_02_bar__plus_01_dot_76_bar__plus_02_dot_29)\n (coolable Tomato_bar__plus_01_dot_03_bar__plus_01_dot_24_bar__plus_01_dot_25)\n (coolable Pot_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30)\n (coolable Tomato_bar__minus_02_dot_18_bar__plus_01_dot_36_bar__plus_00_dot_45)\n (coolable Bowl_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_00_dot_21)\n (coolable WineBottle_bar__minus_01_dot_60_bar__plus_00_dot_34_bar__minus_01_dot_76)\n (coolable Cup_bar__plus_01_dot_21_bar__plus_01_dot_31_bar__plus_01_dot_02)\n \n \n \n \n \n (sliceable Lettuce_bar__plus_00_dot_56_bar__plus_01_dot_40_bar__minus_02_dot_79)\n (sliceable Apple_bar__plus_00_dot_86_bar__plus_01_dot_26_bar__plus_01_dot_24)\n (sliceable Lettuce_bar__minus_01_dot_89_bar__plus_01_dot_40_bar__minus_01_dot_07)\n (sliceable Potato_bar__minus_01_dot_61_bar__plus_00_dot_32_bar__plus_02_dot_11)\n (sliceable Potato_bar__plus_01_dot_07_bar__plus_01_dot_56_bar__plus_01_dot_66)\n (sliceable Apple_bar__minus_01_dot_40_bar__plus_01_dot_37_bar__minus_02_dot_20)\n (sliceable Apple_bar__plus_01_dot_10_bar__plus_01_dot_72_bar__plus_01_dot_60)\n (sliceable Bread_bar__plus_00_dot_56_bar__plus_01_dot_40_bar__minus_03_dot_23)\n (sliceable Bread_bar__minus_02_dot_05_bar__plus_01_dot_40_bar__minus_02_dot_72)\n (sliceable Tomato_bar__plus_00_dot_92_bar__plus_01_dot_56_bar__plus_01_dot_79)\n (sliceable Egg_bar__minus_02_dot_05_bar__plus_01_dot_36_bar__minus_01_dot_68)\n (sliceable Tomato_bar__plus_01_dot_03_bar__plus_01_dot_24_bar__plus_01_dot_25)\n (sliceable Tomato_bar__minus_02_dot_18_bar__plus_01_dot_36_bar__plus_00_dot_45)\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 SaltShaker_bar__minus_01_dot_73_bar__plus_00_dot_34_bar__minus_02_dot_16 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00)\n (inReceptacle PepperShaker_bar__minus_01_dot_67_bar__plus_00_dot_34_bar__minus_01_dot_96 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00)\n (inReceptacle WineBottle_bar__minus_01_dot_60_bar__plus_00_dot_34_bar__minus_01_dot_76 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00)\n (inReceptacle Pan_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 StoveBurner_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30)\n (inReceptacle Bowl_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_00_dot_21 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47)\n (inReceptacle Bowl_bar__minus_01_dot_61_bar__plus_00_dot_34_bar__plus_00_dot_41 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47)\n (inReceptacle Fork_bar__plus_01_dot_02_bar__plus_00_dot_95_bar__plus_00_dot_98 Drawer_bar__plus_00_dot_71_bar__plus_01_dot_06_bar__plus_01_dot_02)\n (inReceptacle Plate_bar__plus_01_dot_05_bar__plus_00_dot_35_bar__minus_02_dot_27 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05)\n (inReceptacle DishSponge_bar__plus_01_dot_05_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 SaltShaker_bar__plus_00_dot_98_bar__plus_00_dot_34_bar__minus_01_dot_85 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05)\n (inReceptacle Lettuce_bar__plus_00_dot_56_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)\n (inReceptacle WineBottle_bar__minus_01_dot_09_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 Kettle_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 SaltShaker_bar__minus_01_dot_17_bar__plus_01_dot_32_bar__minus_03_dot_09 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Mug_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__minus_02_dot_20 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Pot_bar__plus_01_dot_16_bar__plus_01_dot_33_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_02_dot_18_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)\n (inReceptacle Apple_bar__minus_01_dot_40_bar__plus_01_dot_37_bar__minus_02_dot_20 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_01_dot_42 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 WineBottle_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__minus_02_dot_98 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Bread_bar__plus_00_dot_56_bar__plus_01_dot_40_bar__minus_03_dot_23 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_02_dot_72 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_20 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle PepperShaker_bar__minus_02_dot_18_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)\n (inReceptacle Egg_bar__minus_02_dot_05_bar__plus_01_dot_36_bar__minus_01_dot_68 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Knife_bar__plus_00_dot_72_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 Fork_bar__minus_01_dot_53_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 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)\n (inReceptacle Tomato_bar__minus_02_dot_18_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 Spoon_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)\n (inReceptacle Plate_bar__minus_01_dot_75_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 Pan_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 Cup_bar__plus_01_dot_28_bar__plus_01_dot_21_bar__plus_01_dot_24 SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87)\n (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)\n (inReceptacle Tomato_bar__plus_01_dot_03_bar__plus_01_dot_24_bar__plus_01_dot_25 SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87)\n (inReceptacle Pot_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 StoveBurner_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97)\n (inReceptacle Potato_bar__plus_01_dot_07_bar__plus_01_dot_56_bar__plus_01_dot_66 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92)\n (inReceptacle Apple_bar__plus_01_dot_10_bar__plus_01_dot_72_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_92_bar__plus_01_dot_56_bar__plus_01_dot_79 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92)\n (inReceptacle Bowl_bar__plus_01_dot_02_bar__plus_01_dot_76_bar__plus_02_dot_29 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92)\n (inReceptacle Cup_bar__plus_01_dot_21_bar__plus_01_dot_31_bar__plus_01_dot_02 Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85)\n (inReceptacle SoapBottle_bar__minus_01_dot_66_bar__plus_00_dot_28_bar__plus_02_dot_23 GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19)\n (inReceptacle Potato_bar__minus_01_dot_61_bar__plus_00_dot_32_bar__plus_02_dot_11 GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19)\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 Apple_bar__plus_00_dot_86_bar__plus_01_dot_26_bar__plus_01_dot_24 loc_bar_1_bar_4_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__plus_00_dot_77 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Plate_bar__plus_01_dot_05_bar__plus_00_dot_35_bar__minus_02_dot_27 loc_bar__minus_1_bar__minus_9_bar_1_bar_60)\n (objectAtLocation Tomato_bar__minus_02_dot_18_bar__plus_01_dot_36_bar__plus_00_dot_45 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Lettuce_bar__minus_01_dot_89_bar__plus_01_dot_40_bar__minus_01_dot_07 loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\n (objectAtLocation WineBottle_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__minus_02_dot_98 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation SaltShaker_bar__minus_01_dot_73_bar__plus_00_dot_34_bar__minus_02_dot_16 loc_bar__minus_2_bar__minus_6_bar_3_bar_45)\n (objectAtLocation Cup_bar__plus_01_dot_21_bar__plus_01_dot_31_bar__plus_01_dot_02 loc_bar_1_bar_3_bar_1_bar_30)\n (objectAtLocation Fork_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__plus_00_dot_45 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Potato_bar__plus_01_dot_07_bar__plus_01_dot_56_bar__plus_01_dot_66 loc_bar_0_bar_8_bar_1_bar_60)\n (objectAtLocation Bowl_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_00_dot_21 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation Knife_bar__plus_00_dot_72_bar__plus_01_dot_32_bar__minus_02_dot_20 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 Bread_bar__minus_02_dot_05_bar__plus_01_dot_40_bar__minus_02_dot_72 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Apple_bar__minus_01_dot_40_bar__plus_01_dot_37_bar__minus_02_dot_20 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation SaltShaker_bar__plus_00_dot_98_bar__plus_00_dot_34_bar__minus_01_dot_85 loc_bar__minus_1_bar__minus_9_bar_1_bar_60)\n (objectAtLocation Bowl_bar__plus_01_dot_02_bar__plus_01_dot_76_bar__plus_02_dot_29 loc_bar_0_bar_8_bar_1_bar_60)\n (objectAtLocation Tomato_bar__plus_00_dot_92_bar__plus_01_dot_56_bar__plus_01_dot_79 loc_bar_0_bar_8_bar_1_bar_60)\n (objectAtLocation Knife_bar__minus_01_dot_66_bar__plus_01_dot_35_bar__minus_02_dot_20 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Pot_bar__plus_01_dot_16_bar__plus_01_dot_33_bar__minus_02_dot_05 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation WineBottle_bar__minus_01_dot_09_bar__plus_01_dot_32_bar__minus_03_dot_31 loc_bar__minus_4_bar_5_bar_3_bar_30)\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__plus_00_dot_56_bar__plus_01_dot_40_bar__minus_03_dot_23 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 Knife_bar__minus_01_dot_79_bar__plus_01_dot_35_bar__plus_01_dot_42 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Bowl_bar__minus_01_dot_61_bar__plus_00_dot_34_bar__plus_00_dot_41 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation Potato_bar__minus_01_dot_61_bar__plus_00_dot_32_bar__plus_02_dot_11 loc_bar__minus_4_bar_5_bar_0_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_66_bar__plus_00_dot_28_bar__plus_02_dot_23 loc_bar__minus_4_bar_5_bar_0_bar_60)\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_95_bar__plus_00_dot_98 loc_bar_0_bar_3_bar_1_bar_45)\n (objectAtLocation Cup_bar__plus_01_dot_28_bar__plus_01_dot_21_bar__plus_01_dot_24 loc_bar_1_bar_4_bar_1_bar_45)\n (objectAtLocation Kettle_bar__minus_01_dot_45_bar__plus_01_dot_32_bar__minus_02_dot_76 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Egg_bar__minus_02_dot_05_bar__plus_01_dot_36_bar__minus_01_dot_68 loc_bar__minus_4_bar_5_bar_3_bar_30)\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_75_bar__plus_01_dot_33_bar__minus_02_dot_97 loc_bar__minus_3_bar__minus_9_bar_2_bar_30)\n (objectAtLocation SaltShaker_bar__minus_01_dot_17_bar__plus_01_dot_32_bar__minus_03_dot_09 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation WineBottle_bar__minus_01_dot_60_bar__plus_00_dot_34_bar__minus_01_dot_76 loc_bar__minus_2_bar__minus_6_bar_3_bar_45)\n (objectAtLocation Lettuce_bar__plus_00_dot_56_bar__plus_01_dot_40_bar__minus_02_dot_79 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_02_dot_18_bar__plus_01_dot_34_bar__minus_02_dot_72 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation PaperTowelRoll_bar__minus_01_dot_40_bar__plus_01_dot_43_bar__plus_02_dot_07 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Tomato_bar__plus_01_dot_03_bar__plus_01_dot_24_bar__plus_01_dot_25 loc_bar_1_bar_4_bar_1_bar_45)\n (objectAtLocation Plate_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_01_dot_11 loc_bar__minus_2_bar_7_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__minus_01_dot_67_bar__plus_00_dot_34_bar__minus_01_dot_96 loc_bar__minus_2_bar__minus_6_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_01_dot_05_bar__plus_00_dot_34_bar__minus_01_dot_75 loc_bar__minus_1_bar__minus_9_bar_1_bar_60)\n (objectAtLocation Spoon_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__plus_00_dot_77 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Apple_bar__plus_01_dot_10_bar__plus_01_dot_72_bar__plus_01_dot_60 loc_bar_0_bar_8_bar_1_bar_60)\n (objectAtLocation Mug_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__minus_02_dot_20 loc_bar__minus_4_bar_5_bar_3_bar_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o KettleType)\n (receptacleType ?r CabinetType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take kettle 1 from countertop 1", "go to sinkbasin 1", "clean kettle 1 with sinkbasin 1", "go to cabinet 1", "open cabinet 1", "move kettle 1 to cabinet 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Kettle-None-Cabinet-3/trial_T20190909_151623_379326/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Kettle-None-Cabinet-3/trial_T20190909_151623_379326/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..0868fff29b5bbb1465bae3bbb9695f42bdeaba17 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Kettle-None-Cabinet-3/trial_T20190909_151623_379326/initial_state.pddl @@ -0,0 +1,914 @@ + +(define (problem plan_trial_T20190909_151623_379326) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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__plus_01_dot_10_bar__plus_01_dot_72_bar__plus_01_dot_60 - object + Apple_bar__minus_01_dot_40_bar__plus_01_dot_37_bar__minus_02_dot_20 - object + Bowl_bar__plus_01_dot_02_bar__plus_01_dot_76_bar__plus_02_dot_29 - object + Bowl_bar__minus_01_dot_61_bar__plus_00_dot_34_bar__plus_00_dot_41 - object + Bowl_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_00_dot_21 - object + Bread_bar__plus_00_dot_56_bar__plus_01_dot_40_bar__minus_03_dot_23 - object + Bread_bar__minus_02_dot_05_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_21_bar__plus_01_dot_31_bar__plus_01_dot_02 - object + Cup_bar__plus_01_dot_28_bar__plus_01_dot_21_bar__plus_01_dot_24 - object + DishSponge_bar__plus_01_dot_05_bar__plus_00_dot_34_bar__minus_01_dot_75 - object + Egg_bar__minus_02_dot_05_bar__plus_01_dot_36_bar__minus_01_dot_68 - 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_95_bar__plus_00_dot_98 - object + Fork_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__plus_00_dot_45 - object + HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 - object + Kettle_bar__minus_01_dot_45_bar__plus_01_dot_32_bar__minus_02_dot_76 - object + Knife_bar__plus_00_dot_72_bar__plus_01_dot_32_bar__minus_02_dot_20 - object + Knife_bar__minus_01_dot_66_bar__plus_01_dot_35_bar__minus_02_dot_20 - object + Knife_bar__minus_01_dot_79_bar__plus_01_dot_35_bar__plus_01_dot_42 - object + Lettuce_bar__plus_00_dot_56_bar__plus_01_dot_40_bar__minus_02_dot_79 - 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__minus_02_dot_18_bar__plus_01_dot_32_bar__minus_02_dot_20 - object + Pan_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 - 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_01_dot_96 - object + PepperShaker_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__plus_00_dot_77 - object + Plate_bar__plus_01_dot_05_bar__plus_00_dot_35_bar__minus_02_dot_27 - object + Plate_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_01_dot_11 - object + Potato_bar__plus_01_dot_07_bar__plus_01_dot_56_bar__plus_01_dot_66 - object + Potato_bar__minus_01_dot_61_bar__plus_00_dot_32_bar__plus_02_dot_11 - object + Pot_bar__plus_01_dot_16_bar__plus_01_dot_33_bar__minus_02_dot_05 - 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 + SaltShaker_bar__plus_00_dot_98_bar__plus_00_dot_34_bar__minus_01_dot_85 - object + SaltShaker_bar__minus_01_dot_17_bar__plus_01_dot_32_bar__minus_03_dot_09 - object + SaltShaker_bar__minus_01_dot_73_bar__plus_00_dot_34_bar__minus_02_dot_16 - object + Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98 - object + SoapBottle_bar__minus_01_dot_66_bar__plus_00_dot_28_bar__plus_02_dot_23 - object + Spatula_bar__minus_02_dot_18_bar__plus_01_dot_34_bar__minus_02_dot_72 - object + Spoon_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__plus_00_dot_77 - 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_92_bar__plus_01_dot_56_bar__plus_01_dot_79 - object + Tomato_bar__plus_01_dot_03_bar__plus_01_dot_24_bar__plus_01_dot_25 - object + Tomato_bar__minus_02_dot_18_bar__plus_01_dot_36_bar__plus_00_dot_45 - object + Window_bar__minus_02_dot_57_bar__plus_01_dot_80_bar__minus_00_dot_82 - object + WineBottle_bar__minus_01_dot_09_bar__plus_01_dot_32_bar__minus_03_dot_31 - object + WineBottle_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__minus_02_dot_98 - object + WineBottle_bar__minus_01_dot_60_bar__plus_00_dot_34_bar__minus_01_dot_76 - object + Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05 - receptacle + Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47 - receptacle + Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31 - receptacle + Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00 - receptacle + CoffeeMachine_bar__plus_01_dot_13_bar__plus_01_dot_31_bar__minus_01_dot_43 - receptacle + CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18 - receptacle + Drawer_bar__plus_00_dot_71_bar__plus_00_dot_85_bar__plus_01_dot_02 - receptacle + Drawer_bar__plus_00_dot_71_bar__plus_01_dot_06_bar__plus_01_dot_02 - receptacle + Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_00_dot_68 - receptacle + Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_01_dot_02 - receptacle + Drawer_bar__plus_00_dot_72_bar__plus_00_dot_84_bar__plus_00_dot_68 - receptacle + Drawer_bar__plus_00_dot_72_bar__plus_01_dot_06_bar__plus_00_dot_68 - receptacle + Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43 - receptacle + Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22 - receptacle + Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92 - receptacle + GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19 - receptacle + Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85 - receptacle + SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87 - receptacle + Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin - receptacle + StoveBurner_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 - receptacle + StoveBurner_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 - receptacle + StoveBurner_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 - receptacle + StoveBurner_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 - receptacle + Toaster_bar__minus_01_dot_89_bar__plus_01_dot_31_bar__minus_02_dot_51 - receptacle + loc_bar__minus_4_bar__minus_2_bar_3_bar_60 - location + loc_bar__minus_4_bar__minus_5_bar_3_bar_60 - location + loc_bar_0_bar_1_bar_1_bar_60 - location + loc_bar__minus_1_bar_0_bar_1_bar_60 - location + loc_bar__minus_2_bar_7_bar_3_bar_45 - location + loc_bar_0_bar_3_bar_1_bar_45 - location + loc_bar__minus_2_bar__minus_6_bar_3_bar_45 - location + loc_bar__minus_4_bar__minus_3_bar_3_bar_0 - location + loc_bar__minus_3_bar__minus_9_bar_2_bar_45 - location + loc_bar__minus_4_bar__minus_9_bar_3_bar_30 - location + loc_bar_1_bar_3_bar_1_bar_30 - location + loc_bar__minus_1_bar__minus_9_bar_2_bar_30 - location + loc_bar__minus_1_bar__minus_9_bar_2_bar_45 - location + loc_bar__minus_2_bar__minus_9_bar_2_bar_45 - location + loc_bar_1_bar_4_bar_1_bar_45 - location + loc_bar__minus_3_bar__minus_9_bar_2_bar_30 - location + loc_bar_3_bar__minus_1_bar_1_bar_30 - location + loc_bar_0_bar_6_bar_1_bar_60 - location + loc_bar__minus_4_bar_5_bar_0_bar_60 - location + loc_bar__minus_2_bar_0_bar_3_bar_45 - location + loc_bar__minus_4_bar__minus_4_bar_3_bar_30 - location + loc_bar__minus_1_bar_2_bar_1_bar_60 - location + loc_bar_0_bar_1_bar_1_bar_45 - location + loc_bar_0_bar_8_bar_1_bar_60 - location + loc_bar__minus_1_bar__minus_9_bar_1_bar_60 - location + loc_bar_0_bar__minus_4_bar_1_bar_60 - location + loc_bar_0_bar__minus_6_bar_1_bar_30 - location + loc_bar__minus_4_bar__minus_3_bar_3_bar_45 - location + loc_bar__minus_4_bar_5_bar_3_bar_30 - location + loc_bar__minus_3_bar__minus_2_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__plus_00_dot_71_bar__plus_01_dot_06_bar__plus_01_dot_02 DrawerType) + (receptacleType Toaster_bar__minus_01_dot_89_bar__plus_01_dot_31_bar__minus_02_dot_51 ToasterType) + (receptacleType SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87 SideTableType) + (receptacleType Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47 CabinetType) + (receptacleType Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05 CabinetType) + (receptacleType GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19 GarbageCanType) + (receptacleType StoveBurner_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 StoveBurnerType) + (receptacleType StoveBurner_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 StoveBurnerType) + (receptacleType Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85 MicrowaveType) + (receptacleType StoveBurner_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 StoveBurnerType) + (receptacleType Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22 DrawerType) + (receptacleType Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92 FridgeType) + (receptacleType Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43 DrawerType) + (receptacleType Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00 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 Lettuce_bar__plus_00_dot_56_bar__plus_01_dot_40_bar__minus_02_dot_79 LettuceType) + (objectType StoveKnob_bar__minus_00_dot_57_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType) + (objectType Plate_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_01_dot_11 PlateType) + (objectType WineBottle_bar__minus_01_dot_09_bar__plus_01_dot_32_bar__minus_03_dot_31 WineBottleType) + (objectType Pot_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 PotType) + (objectType Pan_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 PanType) + (objectType Apple_bar__plus_00_dot_86_bar__plus_01_dot_26_bar__plus_01_dot_24 AppleType) + (objectType Kettle_bar__minus_01_dot_45_bar__plus_01_dot_32_bar__minus_02_dot_76 KettleType) + (objectType SaltShaker_bar__minus_01_dot_17_bar__plus_01_dot_32_bar__minus_03_dot_09 SaltShakerType) + (objectType Lettuce_bar__minus_01_dot_89_bar__plus_01_dot_40_bar__minus_01_dot_07 LettuceType) + (objectType Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98 SinkType) + (objectType Mug_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__minus_02_dot_20 MugType) + (objectType Window_bar__minus_02_dot_57_bar__plus_01_dot_80_bar__minus_00_dot_82 WindowType) + (objectType StoveKnob_bar__minus_00_dot_71_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType) + (objectType StoveKnob_bar__minus_00_dot_34_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType) + (objectType Plate_bar__plus_01_dot_05_bar__plus_00_dot_35_bar__minus_02_dot_27 PlateType) + (objectType Pot_bar__plus_01_dot_16_bar__plus_01_dot_33_bar__minus_02_dot_05 PotType) + (objectType Potato_bar__minus_01_dot_61_bar__plus_00_dot_32_bar__plus_02_dot_11 PotatoType) + (objectType DishSponge_bar__plus_01_dot_05_bar__plus_00_dot_34_bar__minus_01_dot_75 DishSpongeType) + (objectType Bowl_bar__minus_01_dot_61_bar__plus_00_dot_34_bar__plus_00_dot_41 BowlType) + (objectType SoapBottle_bar__minus_01_dot_66_bar__plus_00_dot_28_bar__plus_02_dot_23 SoapBottleType) + (objectType Cup_bar__plus_01_dot_28_bar__plus_01_dot_21_bar__plus_01_dot_24 CupType) + (objectType StoveKnob_bar__minus_00_dot_19_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType) + (objectType Fork_bar__plus_01_dot_02_bar__plus_00_dot_95_bar__plus_00_dot_98 ForkType) + (objectType Spatula_bar__minus_02_dot_18_bar__plus_01_dot_34_bar__minus_02_dot_72 SpatulaType) + (objectType Potato_bar__plus_01_dot_07_bar__plus_01_dot_56_bar__plus_01_dot_66 PotatoType) + (objectType Apple_bar__minus_01_dot_40_bar__plus_01_dot_37_bar__minus_02_dot_20 AppleType) + (objectType Knife_bar__minus_01_dot_79_bar__plus_01_dot_35_bar__plus_01_dot_42 KnifeType) + (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__plus_01_dot_10_bar__plus_01_dot_72_bar__plus_01_dot_60 AppleType) + (objectType WineBottle_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__minus_02_dot_98 WineBottleType) + (objectType Bread_bar__plus_00_dot_56_bar__plus_01_dot_40_bar__minus_03_dot_23 BreadType) + (objectType 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+ }, + { + "objectName": "Spoon_e0793d4c", + "position": { + "x": -1.9200685, + "y": 1.32412946, + "z": 0.770108938 + }, + "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": -2.179573, + "y": 1.318, + "z": -2.20134926 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 530349011, + "scene_num": 3 + }, + "task_id": "trial_T20190909_151623_379326", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3UF6XXFFRR237_3IX2EGZR7EAS6SZV0YOPMEXAG6QJR4", + "high_descs": [ + "go to the cabinet to the right of the stove", + "pick up the tea kettle from the cabinet below on the right", + "take the kettle to the sink", + "fill the kettle with water from the sink", + "take the kettle to the bottom cabinet to the left of the sink", + "put the kettle in the cabinet" + ], + "task_desc": "fill a kettle with water to put in the cabinet", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2871R3LEPWMMK_3OWEPKL08C3E7Z616IIBA4NROEWN78", + "high_descs": [ + "Turn around, hang a left at the sink and walk to the stove.", + "Pick up the tea kettle to the right of the stove on the counter.", + "Turn around and walk to the sink on the left.", + "Put the tea kettle inside the sink, rinse it for a few seconds and pick it back up.", + "Turn around and hang a right at the stove to face the cabinet under the counter.", + "Open the large cabinet on the left, put the rinsed tea kettle inside and close the door." + ], + "task_desc": "Place a rinsed tea kettle in a cabinet.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3PPLDHC3CG0YN_3WZ36BJEV67Z4OEBGVG3O5FFWMETB6", + "high_descs": [ + "Walk to the counter to the right of the stove. ", + "Pick up the kettle from the counter. ", + "Turn around and walk to the sink on the left. ", + "Put the kettle down inside the sink, rinse off the kettle, pick it up from the sink. ", + "Face the cabinet below the counter to the left of the sink. ", + "Open the cabinet door, put the kettle in the cabinet, close the door. " + ], + "task_desc": "To rinse a kettle and put it in 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-GarbageCan-421/trial_T20190907_041233_785188/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-GarbageCan-421/trial_T20190907_041233_785188/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..fad0bbbb3521f2fb37cf04655c1339cb706391a5 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-GarbageCan-421/trial_T20190907_041233_785188/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_T20190907_041233_785188)\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_19_bar__plus_00_dot_95_bar__plus_03_dot_60 - object\n Candle_bar__minus_00_dot_29_bar__plus_00_dot_81_bar__plus_02_dot_19 - 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_30_bar__plus_00_dot_21_bar__plus_02_dot_03 - object\n DishSponge_bar__minus_00_dot_36_bar__plus_00_dot_51_bar__plus_01_dot_57 - object\n DishSponge_bar__minus_00_dot_36_bar__plus_00_dot_83_bar__plus_01_dot_77 - 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_48_bar__plus_00_dot_81_bar__plus_03_dot_17 - object\n SoapBottle_bar__minus_00_dot_14_bar__plus_00_dot_80_bar__plus_01_dot_33 - object\n SoapBottle_bar__minus_00_dot_42_bar__plus_00_dot_81_bar__plus_02_dot_35 - object\n SprayBottle_bar__minus_00_dot_42_bar__plus_00_dot_81_bar__plus_03_dot_17 - object\n ToiletPaper_bar__minus_00_dot_18_bar__plus_00_dot_95_bar__plus_03_dot_72 - object\n ToiletPaper_bar__minus_01_dot_16_bar__plus_00_dot_90_bar__plus_03_dot_93 - 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_7_bar_13_bar_2_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 DishSponge_bar__minus_00_dot_30_bar__plus_00_dot_21_bar__plus_02_dot_03 DishSpongeType)\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 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 SoapBar_bar__minus_00_dot_48_bar__plus_00_dot_81_bar__plus_03_dot_17 SoapBarType)\n (objectType LightSwitch_bar__minus_02_dot_31_bar__plus_01_dot_39_bar__plus_03_dot_30 LightSwitchType)\n (objectType SprayBottle_bar__minus_00_dot_42_bar__plus_00_dot_81_bar__plus_03_dot_17 SprayBottleType)\n (objectType ScrubBrush_bar__minus_00_dot_35_bar_00_dot_00_bar__plus_03_dot_34 ScrubBrushType)\n (objectType DishSponge_bar__minus_00_dot_36_bar__plus_00_dot_83_bar__plus_01_dot_77 DishSpongeType)\n (objectType Candle_bar__minus_00_dot_19_bar__plus_00_dot_95_bar__plus_03_dot_60 CandleType)\n (objectType ToiletPaper_bar__minus_01_dot_16_bar__plus_00_dot_90_bar__plus_03_dot_93 ToiletPaperType)\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 HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_66_bar__plus_03_dot_44 HandTowelType)\n (objectType Plunger_bar__minus_00_dot_14_bar_00_dot_00_bar__plus_03_dot_37 PlungerType)\n (objectType DishSponge_bar__minus_00_dot_36_bar__plus_00_dot_51_bar__plus_01_dot_57 DishSpongeType)\n (objectType Candle_bar__minus_00_dot_29_bar__plus_00_dot_81_bar__plus_02_dot_19 CandleType)\n (objectType SoapBottle_bar__minus_00_dot_42_bar__plus_00_dot_81_bar__plus_02_dot_35 SoapBottleType)\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 DishSponge_bar__minus_00_dot_30_bar__plus_00_dot_21_bar__plus_02_dot_03)\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 SoapBar_bar__minus_00_dot_48_bar__plus_00_dot_81_bar__plus_03_dot_17)\n (pickupable SprayBottle_bar__minus_00_dot_42_bar__plus_00_dot_81_bar__plus_03_dot_17)\n (pickupable ScrubBrush_bar__minus_00_dot_35_bar_00_dot_00_bar__plus_03_dot_34)\n (pickupable DishSponge_bar__minus_00_dot_36_bar__plus_00_dot_83_bar__plus_01_dot_77)\n (pickupable Candle_bar__minus_00_dot_19_bar__plus_00_dot_95_bar__plus_03_dot_60)\n (pickupable ToiletPaper_bar__minus_01_dot_16_bar__plus_00_dot_90_bar__plus_03_dot_93)\n (pickupable HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_66_bar__plus_03_dot_44)\n (pickupable Plunger_bar__minus_00_dot_14_bar_00_dot_00_bar__plus_03_dot_37)\n (pickupable DishSponge_bar__minus_00_dot_36_bar__plus_00_dot_51_bar__plus_01_dot_57)\n (pickupable Candle_bar__minus_00_dot_29_bar__plus_00_dot_81_bar__plus_02_dot_19)\n (pickupable SoapBottle_bar__minus_00_dot_42_bar__plus_00_dot_81_bar__plus_02_dot_35)\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_7_bar_13_bar_2_bar_30)\n \n (cleanable Cloth_bar__minus_00_dot_30_bar__plus_00_dot_21_bar__plus_03_dot_01)\n (cleanable DishSponge_bar__minus_00_dot_30_bar__plus_00_dot_21_bar__plus_02_dot_03)\n (cleanable SoapBar_bar__minus_00_dot_48_bar__plus_00_dot_81_bar__plus_03_dot_17)\n (cleanable DishSponge_bar__minus_00_dot_36_bar__plus_00_dot_83_bar__plus_01_dot_77)\n (cleanable DishSponge_bar__minus_00_dot_36_bar__plus_00_dot_51_bar__plus_01_dot_57)\n \n \n \n \n \n \n \n \n \n \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 DishSponge_bar__minus_00_dot_36_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 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 SoapBar_bar__minus_00_dot_48_bar__plus_00_dot_81_bar__plus_03_dot_17 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_01_bar__plus_01_dot_45)\n (inReceptacle Candle_bar__minus_00_dot_29_bar__plus_00_dot_81_bar__plus_02_dot_19 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_01_bar__plus_01_dot_45)\n (inReceptacle SprayBottle_bar__minus_00_dot_42_bar__plus_00_dot_81_bar__plus_03_dot_17 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_01_bar__plus_01_dot_45)\n (inReceptacle SoapBottle_bar__minus_00_dot_42_bar__plus_00_dot_81_bar__plus_02_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_30_bar__plus_00_dot_21_bar__plus_02_dot_03 Drawer_bar__minus_00_dot_32_bar__plus_00_dot_32_bar__plus_01_dot_98)\n (inReceptacle DishSponge_bar__minus_00_dot_36_bar__plus_00_dot_51_bar__plus_01_dot_57 Drawer_bar__minus_00_dot_32_bar__plus_00_dot_62_bar__plus_01_dot_46)\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 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 Candle_bar__minus_00_dot_19_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 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 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_30_bar__plus_00_dot_21_bar__plus_02_dot_03 loc_bar__minus_4_bar_8_bar_1_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 Candle_bar__minus_00_dot_19_bar__plus_00_dot_95_bar__plus_03_dot_60 loc_bar__minus_4_bar_13_bar_0_bar_60)\n (objectAtLocation DishSponge_bar__minus_00_dot_36_bar__plus_00_dot_51_bar__plus_01_dot_57 loc_bar__minus_5_bar_7_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_00_dot_48_bar__plus_00_dot_81_bar__plus_03_dot_17 loc_bar__minus_4_bar_7_bar_1_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_29_bar__plus_00_dot_81_bar__plus_02_dot_19 loc_bar__minus_4_bar_7_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_42_bar__plus_00_dot_81_bar__plus_02_dot_35 loc_bar__minus_4_bar_7_bar_1_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_16_bar__plus_00_dot_90_bar__plus_03_dot_93 loc_bar__minus_5_bar_14_bar_0_bar_60)\n (objectAtLocation SprayBottle_bar__minus_00_dot_42_bar__plus_00_dot_81_bar__plus_03_dot_17 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_36_bar__plus_00_dot_83_bar__plus_01_dot_77 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 (?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-421/trial_T20190907_041233_785188/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-GarbageCan-421/trial_T20190907_041233_785188/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..6a7fdd8bcbd6295c30225c500891b405e9f9073b --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-GarbageCan-421/trial_T20190907_041233_785188/initial_state.pddl @@ -0,0 +1,513 @@ + +(define (problem plan_trial_T20190907_041233_785188) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_19_bar__plus_00_dot_95_bar__plus_03_dot_60 - object + Candle_bar__minus_00_dot_29_bar__plus_00_dot_81_bar__plus_02_dot_19 - object + Cloth_bar__minus_00_dot_30_bar__plus_00_dot_21_bar__plus_03_dot_01 - object + DishSponge_bar__minus_00_dot_30_bar__plus_00_dot_21_bar__plus_02_dot_03 - object + DishSponge_bar__minus_00_dot_36_bar__plus_00_dot_51_bar__plus_01_dot_57 - object + DishSponge_bar__minus_00_dot_36_bar__plus_00_dot_83_bar__plus_01_dot_77 - 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_48_bar__plus_00_dot_81_bar__plus_03_dot_17 - object + SoapBottle_bar__minus_00_dot_14_bar__plus_00_dot_80_bar__plus_01_dot_33 - object + SoapBottle_bar__minus_00_dot_42_bar__plus_00_dot_81_bar__plus_02_dot_35 - object + SprayBottle_bar__minus_00_dot_42_bar__plus_00_dot_81_bar__plus_03_dot_17 - object + ToiletPaper_bar__minus_00_dot_18_bar__plus_00_dot_95_bar__plus_03_dot_72 - object + ToiletPaper_bar__minus_01_dot_16_bar__plus_00_dot_90_bar__plus_03_dot_93 - 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_7_bar_13_bar_2_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 DishSponge_bar__minus_00_dot_30_bar__plus_00_dot_21_bar__plus_02_dot_03 DishSpongeType) + (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 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 SoapBar_bar__minus_00_dot_48_bar__plus_00_dot_81_bar__plus_03_dot_17 SoapBarType) + (objectType LightSwitch_bar__minus_02_dot_31_bar__plus_01_dot_39_bar__plus_03_dot_30 LightSwitchType) + (objectType SprayBottle_bar__minus_00_dot_42_bar__plus_00_dot_81_bar__plus_03_dot_17 SprayBottleType) + (objectType ScrubBrush_bar__minus_00_dot_35_bar_00_dot_00_bar__plus_03_dot_34 ScrubBrushType) + (objectType DishSponge_bar__minus_00_dot_36_bar__plus_00_dot_83_bar__plus_01_dot_77 DishSpongeType) + (objectType Candle_bar__minus_00_dot_19_bar__plus_00_dot_95_bar__plus_03_dot_60 CandleType) + (objectType ToiletPaper_bar__minus_01_dot_16_bar__plus_00_dot_90_bar__plus_03_dot_93 ToiletPaperType) + (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 HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_66_bar__plus_03_dot_44 HandTowelType) + (objectType Plunger_bar__minus_00_dot_14_bar_00_dot_00_bar__plus_03_dot_37 PlungerType) + (objectType DishSponge_bar__minus_00_dot_36_bar__plus_00_dot_51_bar__plus_01_dot_57 DishSpongeType) + (objectType Candle_bar__minus_00_dot_29_bar__plus_00_dot_81_bar__plus_02_dot_19 CandleType) + (objectType SoapBottle_bar__minus_00_dot_42_bar__plus_00_dot_81_bar__plus_02_dot_35 SoapBottleType) + (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 DishSponge_bar__minus_00_dot_30_bar__plus_00_dot_21_bar__plus_02_dot_03) + (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 SoapBar_bar__minus_00_dot_48_bar__plus_00_dot_81_bar__plus_03_dot_17) + (pickupable SprayBottle_bar__minus_00_dot_42_bar__plus_00_dot_81_bar__plus_03_dot_17) + (pickupable ScrubBrush_bar__minus_00_dot_35_bar_00_dot_00_bar__plus_03_dot_34) + (pickupable DishSponge_bar__minus_00_dot_36_bar__plus_00_dot_83_bar__plus_01_dot_77) + (pickupable Candle_bar__minus_00_dot_19_bar__plus_00_dot_95_bar__plus_03_dot_60) + (pickupable ToiletPaper_bar__minus_01_dot_16_bar__plus_00_dot_90_bar__plus_03_dot_93) + (pickupable HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_66_bar__plus_03_dot_44) + (pickupable Plunger_bar__minus_00_dot_14_bar_00_dot_00_bar__plus_03_dot_37) + (pickupable DishSponge_bar__minus_00_dot_36_bar__plus_00_dot_51_bar__plus_01_dot_57) + (pickupable Candle_bar__minus_00_dot_29_bar__plus_00_dot_81_bar__plus_02_dot_19) + (pickupable SoapBottle_bar__minus_00_dot_42_bar__plus_00_dot_81_bar__plus_02_dot_35) + + (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_7_bar_13_bar_2_bar_30) + + (cleanable Cloth_bar__minus_00_dot_30_bar__plus_00_dot_21_bar__plus_03_dot_01) + (cleanable DishSponge_bar__minus_00_dot_30_bar__plus_00_dot_21_bar__plus_02_dot_03) + (cleanable SoapBar_bar__minus_00_dot_48_bar__plus_00_dot_81_bar__plus_03_dot_17) + (cleanable DishSponge_bar__minus_00_dot_36_bar__plus_00_dot_83_bar__plus_01_dot_77) + (cleanable DishSponge_bar__minus_00_dot_36_bar__plus_00_dot_51_bar__plus_01_dot_57) + + + + + + + + + + + (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 DishSponge_bar__minus_00_dot_36_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 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 SoapBar_bar__minus_00_dot_48_bar__plus_00_dot_81_bar__plus_03_dot_17 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_01_bar__plus_01_dot_45) + (inReceptacle Candle_bar__minus_00_dot_29_bar__plus_00_dot_81_bar__plus_02_dot_19 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_01_bar__plus_01_dot_45) + (inReceptacle SprayBottle_bar__minus_00_dot_42_bar__plus_00_dot_81_bar__plus_03_dot_17 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_01_bar__plus_01_dot_45) + (inReceptacle SoapBottle_bar__minus_00_dot_42_bar__plus_00_dot_81_bar__plus_02_dot_35 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_01_bar__plus_01_dot_45) + (inReceptacle DishSponge_bar__minus_00_dot_30_bar__plus_00_dot_21_bar__plus_02_dot_03 Drawer_bar__minus_00_dot_32_bar__plus_00_dot_32_bar__plus_01_dot_98) + (inReceptacle DishSponge_bar__minus_00_dot_36_bar__plus_00_dot_51_bar__plus_01_dot_57 Drawer_bar__minus_00_dot_32_bar__plus_00_dot_62_bar__plus_01_dot_46) + (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 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 Candle_bar__minus_00_dot_19_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 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 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_30_bar__plus_00_dot_21_bar__plus_02_dot_03 loc_bar__minus_4_bar_8_bar_1_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 Candle_bar__minus_00_dot_19_bar__plus_00_dot_95_bar__plus_03_dot_60 loc_bar__minus_4_bar_13_bar_0_bar_60) + (objectAtLocation DishSponge_bar__minus_00_dot_36_bar__plus_00_dot_51_bar__plus_01_dot_57 loc_bar__minus_5_bar_7_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_00_dot_48_bar__plus_00_dot_81_bar__plus_03_dot_17 loc_bar__minus_4_bar_7_bar_1_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_29_bar__plus_00_dot_81_bar__plus_02_dot_19 loc_bar__minus_4_bar_7_bar_1_bar_60) + (objectAtLocation SoapBottle_bar__minus_00_dot_42_bar__plus_00_dot_81_bar__plus_02_dot_35 loc_bar__minus_4_bar_7_bar_1_bar_60) + (objectAtLocation ToiletPaper_bar__minus_01_dot_16_bar__plus_00_dot_90_bar__plus_03_dot_93 loc_bar__minus_5_bar_14_bar_0_bar_60) + (objectAtLocation SprayBottle_bar__minus_00_dot_42_bar__plus_00_dot_81_bar__plus_03_dot_17 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_36_bar__plus_00_dot_83_bar__plus_01_dot_77 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 (?o - object) + (and + (cleanable ?o) + (objectType ?o SoapBarType) + (receptacleType ?r GarbageCanType) + (isClean ?o) + (inReceptacle ?o ?r) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git 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true, + "floor_plan": "FloorPlan421", + "init_action": { + "action": "TeleportFull", + "horizon": 30, + "rotateOnTeleport": true, + "rotation": 180, + "x": -1.75, + "y": 0.9008256, + "z": 3.25 + }, + "object_poses": [ + { + "objectName": "Candle_1814f8bc", + "position": { + "x": -0.289547563, + "y": 0.812007546, + "z": 2.19055748 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_862832c1", + "position": { + "x": -0.363019, + "y": 0.8299487, + "z": 1.77237 + }, + "rotation": { + "x": 1.40334191e-14, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_862832c1", + "position": { + "x": -0.358357877, + "y": 0.5137005, + "z": 1.57469022 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_5484beaa", + "position": { + "x": -0.417906046, + "y": 0.8132801, + "z": 2.35045624 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "HandTowel_f6c37fb2", + "position": 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"DishSponge_862832c1", + "position": { + "x": -0.3024292, + "y": 0.208068073, + "z": 2.03450513 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2092298290, + "scene_num": 421 + }, + "task_id": "trial_T20190907_041233_785188", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AJQGWGESKQT4Y_3HMVI3QICM9MNN9FSWLWPOAJVWIY11", + "high_descs": [ + "Go left and stand in front of the soap on the counter.", + "Pick the soap up from the counter.", + "Go right and stand in front of the double sinks.", + "Put the soap in the sink to the right, turn the water on and then off and pick the soap up out of the sink.", + "Turn around and walk to the trash can in the corner.", + "Put the soap in the trash can." + ], + "task_desc": "Put a clean bar of soap in the trash can.", + "votes": [ + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2CT57W84KXX25_3K3R2QNK8EKNVJS5M83019MPXMU9UQ", + "high_descs": [ + "Turn left, walk to the counter.", + "Pick up the bar of soap in front of the spray bottle. ", + "Turn right, walk to the end of the counter, turn left.", + "Put the bar of soap in the sink with the sponge, turn the water on for a few seconds, turn the water off, pick up the soap. ", + "Turn around, walk to the other side of the room, turn right, walk to the other end of the room.", + "Put the soap in the trash can. " + ], + "task_desc": "Throw away the wet soap. ", + "votes": [ + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1ZE52NWZPN85P_3I2PTA7R3WBFKM4F9WAKHH3G596QKU", + "high_descs": [ + "Turn to your left", + "Pick up a bar of soap off of the counter", + "Move to your right and then face left towards the sinks", + "Drop the soap in the sink and then run the faucet for a few seconds before picking the soap back up", + "Turn around and then head all the way to your right", + "Drop the bar of soap in trash can" + ], + "task_desc": "Wet a bar of soap and throw it in the trash", + "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-421/trial_T20190907_090017_388504/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-GarbageCan-421/trial_T20190907_090017_388504/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..fb73d60cb94e80b76bfb523e7a6ed3d20b8e6dec --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-GarbageCan-421/trial_T20190907_090017_388504/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_T20190907_090017_388504)\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_16_bar__plus_00_dot_81_bar__plus_03_dot_17 - object\n Candle_bar__minus_00_dot_23_bar__plus_00_dot_81_bar__plus_01_dot_26 - object\n Candle_bar__minus_00_dot_47_bar__plus_00_dot_21_bar__plus_03_dot_07 - 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_36_bar__plus_00_dot_83_bar__plus_01_dot_63 - object\n DishSponge_bar__minus_00_dot_41_bar__plus_00_dot_51_bar__plus_01_dot_92 - 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_11_bar__plus_00_dot_95_bar__plus_03_dot_72 - object\n SoapBar_bar__minus_00_dot_13_bar__plus_00_dot_51_bar__plus_02_dot_90 - object\n SoapBar_bar__minus_00_dot_16_bar__plus_00_dot_81_bar__plus_02_dot_24 - object\n SoapBottle_bar__minus_00_dot_14_bar__plus_00_dot_80_bar__plus_01_dot_33 - object\n SoapBottle_bar__minus_00_dot_42_bar__plus_00_dot_81_bar__plus_03_dot_17 - object\n SprayBottle_bar__minus_00_dot_19_bar__plus_00_dot_95_bar__plus_03_dot_47 - object\n SprayBottle_bar__minus_02_dot_17_bar__plus_00_dot_06_bar__plus_03_dot_84 - object\n ToiletPaper_bar__minus_00_dot_16_bar__plus_00_dot_95_bar__plus_03_dot_85 - object\n ToiletPaper_bar__minus_01_dot_16_bar__plus_00_dot_90_bar__plus_03_dot_93 - 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_5_bar_10_bar_3_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 ToiletPaper_bar__minus_00_dot_16_bar__plus_00_dot_95_bar__plus_03_dot_85 ToiletPaperType)\n (objectType SoapBar_bar__minus_00_dot_16_bar__plus_00_dot_81_bar__plus_02_dot_24 SoapBarType)\n (objectType Mirror_bar__minus_00_dot_23_bar__plus_00_dot_47_bar__plus_01_dot_45 MirrorType)\n (objectType SoapBar_bar__minus_00_dot_13_bar__plus_00_dot_51_bar__plus_02_dot_90 SoapBarType)\n (objectType SprayBottle_bar__minus_00_dot_19_bar__plus_00_dot_95_bar__plus_03_dot_47 SprayBottleType)\n (objectType SoapBottle_bar__minus_00_dot_14_bar__plus_00_dot_80_bar__plus_01_dot_33 SoapBottleType)\n (objectType SoapBar_bar__minus_00_dot_11_bar__plus_00_dot_95_bar__plus_03_dot_72 SoapBarType)\n (objectType Sink_bar__minus_00_dot_30_bar__plus_00_dot_81_bar__plus_01_dot_73 SinkType)\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 SoapBottle_bar__minus_00_dot_42_bar__plus_00_dot_81_bar__plus_03_dot_17 SoapBottleType)\n (objectType ToiletPaper_bar__minus_01_dot_16_bar__plus_00_dot_90_bar__plus_03_dot_93 ToiletPaperType)\n (objectType SprayBottle_bar__minus_02_dot_17_bar__plus_00_dot_06_bar__plus_03_dot_84 SprayBottleType)\n (objectType DishSponge_bar__minus_00_dot_41_bar__plus_00_dot_51_bar__plus_01_dot_92 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 HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_66_bar__plus_03_dot_44 HandTowelType)\n (objectType Plunger_bar__minus_00_dot_14_bar_00_dot_00_bar__plus_03_dot_37 PlungerType)\n (objectType Candle_bar__minus_00_dot_16_bar__plus_00_dot_81_bar__plus_03_dot_17 CandleType)\n (objectType Candle_bar__minus_00_dot_47_bar__plus_00_dot_21_bar__plus_03_dot_07 CandleType)\n (objectType Candle_bar__minus_00_dot_23_bar__plus_00_dot_81_bar__plus_01_dot_26 CandleType)\n (objectType DishSponge_bar__minus_00_dot_36_bar__plus_00_dot_83_bar__plus_01_dot_63 DishSpongeType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType 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 ToiletPaper_bar__minus_00_dot_16_bar__plus_00_dot_95_bar__plus_03_dot_85)\n (pickupable SoapBar_bar__minus_00_dot_16_bar__plus_00_dot_81_bar__plus_02_dot_24)\n (pickupable SoapBar_bar__minus_00_dot_13_bar__plus_00_dot_51_bar__plus_02_dot_90)\n (pickupable SprayBottle_bar__minus_00_dot_19_bar__plus_00_dot_95_bar__plus_03_dot_47)\n (pickupable SoapBottle_bar__minus_00_dot_14_bar__plus_00_dot_80_bar__plus_01_dot_33)\n (pickupable SoapBar_bar__minus_00_dot_11_bar__plus_00_dot_95_bar__plus_03_dot_72)\n (pickupable ScrubBrush_bar__minus_00_dot_35_bar_00_dot_00_bar__plus_03_dot_34)\n (pickupable SoapBottle_bar__minus_00_dot_42_bar__plus_00_dot_81_bar__plus_03_dot_17)\n (pickupable ToiletPaper_bar__minus_01_dot_16_bar__plus_00_dot_90_bar__plus_03_dot_93)\n (pickupable SprayBottle_bar__minus_02_dot_17_bar__plus_00_dot_06_bar__plus_03_dot_84)\n (pickupable DishSponge_bar__minus_00_dot_41_bar__plus_00_dot_51_bar__plus_01_dot_92)\n (pickupable HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_66_bar__plus_03_dot_44)\n (pickupable Plunger_bar__minus_00_dot_14_bar_00_dot_00_bar__plus_03_dot_37)\n (pickupable Candle_bar__minus_00_dot_16_bar__plus_00_dot_81_bar__plus_03_dot_17)\n (pickupable Candle_bar__minus_00_dot_47_bar__plus_00_dot_21_bar__plus_03_dot_07)\n (pickupable Candle_bar__minus_00_dot_23_bar__plus_00_dot_81_bar__plus_01_dot_26)\n (pickupable DishSponge_bar__minus_00_dot_36_bar__plus_00_dot_83_bar__plus_01_dot_63)\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_5_bar_10_bar_3_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_00_dot_16_bar__plus_00_dot_81_bar__plus_02_dot_24)\n (cleanable SoapBar_bar__minus_00_dot_13_bar__plus_00_dot_51_bar__plus_02_dot_90)\n (cleanable SoapBar_bar__minus_00_dot_11_bar__plus_00_dot_95_bar__plus_03_dot_72)\n (cleanable DishSponge_bar__minus_00_dot_41_bar__plus_00_dot_51_bar__plus_01_dot_92)\n (cleanable DishSponge_bar__minus_00_dot_36_bar__plus_00_dot_83_bar__plus_01_dot_63)\n \n \n \n \n \n \n \n \n \n \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 DishSponge_bar__minus_00_dot_36_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 SoapBar_bar__minus_00_dot_13_bar__plus_00_dot_51_bar__plus_02_dot_90 Drawer_bar__minus_00_dot_32_bar__plus_00_dot_62_bar__plus_03_dot_01)\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 Candle_bar__minus_00_dot_47_bar__plus_00_dot_21_bar__plus_03_dot_07 Drawer_bar__minus_00_dot_32_bar__plus_00_dot_32_bar__plus_03_dot_01)\n (inReceptacle SoapBottle_bar__minus_00_dot_42_bar__plus_00_dot_81_bar__plus_03_dot_17 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_01_bar__plus_01_dot_45)\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_16_bar__plus_00_dot_81_bar__plus_03_dot_17 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_01_bar__plus_01_dot_45)\n (inReceptacle SoapBar_bar__minus_00_dot_16_bar__plus_00_dot_81_bar__plus_02_dot_24 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_01_bar__plus_01_dot_45)\n (inReceptacle Candle_bar__minus_00_dot_23_bar__plus_00_dot_81_bar__plus_01_dot_26 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_51_bar__plus_01_dot_92 Drawer_bar__minus_00_dot_32_bar__plus_00_dot_62_bar__plus_01_dot_98)\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 SprayBottle_bar__minus_02_dot_17_bar__plus_00_dot_06_bar__plus_03_dot_84 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 SprayBottle_bar__minus_00_dot_19_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 ToiletPaper_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 SoapBar_bar__minus_00_dot_11_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 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_41_bar__plus_00_dot_51_bar__plus_01_dot_92 loc_bar__minus_5_bar_9_bar_1_bar_45)\n (objectAtLocation SprayBottle_bar__minus_00_dot_19_bar__plus_00_dot_95_bar__plus_03_dot_47 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 Candle_bar__minus_00_dot_16_bar__plus_00_dot_81_bar__plus_03_dot_17 loc_bar__minus_4_bar_7_bar_1_bar_60)\n (objectAtLocation SoapBar_bar__minus_00_dot_16_bar__plus_00_dot_81_bar__plus_02_dot_24 loc_bar__minus_4_bar_7_bar_1_bar_60)\n (objectAtLocation Candle_bar__minus_00_dot_23_bar__plus_00_dot_81_bar__plus_01_dot_26 loc_bar__minus_4_bar_7_bar_1_bar_60)\n (objectAtLocation SoapBar_bar__minus_00_dot_13_bar__plus_00_dot_51_bar__plus_02_dot_90 loc_bar__minus_5_bar_11_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_00_dot_11_bar__plus_00_dot_95_bar__plus_03_dot_72 loc_bar__minus_4_bar_13_bar_0_bar_60)\n (objectAtLocation ToiletPaper_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 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_47_bar__plus_00_dot_21_bar__plus_03_dot_07 loc_bar__minus_6_bar_10_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_42_bar__plus_00_dot_81_bar__plus_03_dot_17 loc_bar__minus_4_bar_7_bar_1_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_16_bar__plus_00_dot_90_bar__plus_03_dot_93 loc_bar__minus_5_bar_14_bar_0_bar_60)\n (objectAtLocation SprayBottle_bar__minus_02_dot_17_bar__plus_00_dot_06_bar__plus_03_dot_84 loc_bar__minus_7_bar_14_bar_3_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_36_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 (?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 toilet 1", "take soapbar 3 from toilet 1", "go to sinkbasin 1", "clean soapbar 3 with sinkbasin 1", "go to garbagecan 1", "move soapbar 3 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-421/trial_T20190907_090017_388504/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-GarbageCan-421/trial_T20190907_090017_388504/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..2c9b3b74c124e9b235c205ad43847aef3d73d5e8 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-GarbageCan-421/trial_T20190907_090017_388504/initial_state.pddl @@ -0,0 +1,529 @@ + +(define (problem plan_trial_T20190907_090017_388504) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_16_bar__plus_00_dot_81_bar__plus_03_dot_17 - object + Candle_bar__minus_00_dot_23_bar__plus_00_dot_81_bar__plus_01_dot_26 - object + Candle_bar__minus_00_dot_47_bar__plus_00_dot_21_bar__plus_03_dot_07 - object + Cloth_bar__minus_00_dot_30_bar__plus_00_dot_21_bar__plus_03_dot_01 - object + DishSponge_bar__minus_00_dot_36_bar__plus_00_dot_83_bar__plus_01_dot_63 - object + DishSponge_bar__minus_00_dot_41_bar__plus_00_dot_51_bar__plus_01_dot_92 - 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_11_bar__plus_00_dot_95_bar__plus_03_dot_72 - object + SoapBar_bar__minus_00_dot_13_bar__plus_00_dot_51_bar__plus_02_dot_90 - object + SoapBar_bar__minus_00_dot_16_bar__plus_00_dot_81_bar__plus_02_dot_24 - object + SoapBottle_bar__minus_00_dot_14_bar__plus_00_dot_80_bar__plus_01_dot_33 - object + SoapBottle_bar__minus_00_dot_42_bar__plus_00_dot_81_bar__plus_03_dot_17 - object + SprayBottle_bar__minus_00_dot_19_bar__plus_00_dot_95_bar__plus_03_dot_47 - object + SprayBottle_bar__minus_02_dot_17_bar__plus_00_dot_06_bar__plus_03_dot_84 - object + ToiletPaper_bar__minus_00_dot_16_bar__plus_00_dot_95_bar__plus_03_dot_85 - object + ToiletPaper_bar__minus_01_dot_16_bar__plus_00_dot_90_bar__plus_03_dot_93 - 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_5_bar_10_bar_3_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 ToiletPaper_bar__minus_00_dot_16_bar__plus_00_dot_95_bar__plus_03_dot_85 ToiletPaperType) + (objectType SoapBar_bar__minus_00_dot_16_bar__plus_00_dot_81_bar__plus_02_dot_24 SoapBarType) + (objectType Mirror_bar__minus_00_dot_23_bar__plus_00_dot_47_bar__plus_01_dot_45 MirrorType) + (objectType SoapBar_bar__minus_00_dot_13_bar__plus_00_dot_51_bar__plus_02_dot_90 SoapBarType) + (objectType SprayBottle_bar__minus_00_dot_19_bar__plus_00_dot_95_bar__plus_03_dot_47 SprayBottleType) + (objectType SoapBottle_bar__minus_00_dot_14_bar__plus_00_dot_80_bar__plus_01_dot_33 SoapBottleType) + (objectType SoapBar_bar__minus_00_dot_11_bar__plus_00_dot_95_bar__plus_03_dot_72 SoapBarType) + (objectType Sink_bar__minus_00_dot_30_bar__plus_00_dot_81_bar__plus_01_dot_73 SinkType) + (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 SoapBottle_bar__minus_00_dot_42_bar__plus_00_dot_81_bar__plus_03_dot_17 SoapBottleType) + (objectType ToiletPaper_bar__minus_01_dot_16_bar__plus_00_dot_90_bar__plus_03_dot_93 ToiletPaperType) + (objectType SprayBottle_bar__minus_02_dot_17_bar__plus_00_dot_06_bar__plus_03_dot_84 SprayBottleType) + (objectType DishSponge_bar__minus_00_dot_41_bar__plus_00_dot_51_bar__plus_01_dot_92 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 HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_66_bar__plus_03_dot_44 HandTowelType) + (objectType Plunger_bar__minus_00_dot_14_bar_00_dot_00_bar__plus_03_dot_37 PlungerType) + (objectType Candle_bar__minus_00_dot_16_bar__plus_00_dot_81_bar__plus_03_dot_17 CandleType) + (objectType Candle_bar__minus_00_dot_47_bar__plus_00_dot_21_bar__plus_03_dot_07 CandleType) + (objectType Candle_bar__minus_00_dot_23_bar__plus_00_dot_81_bar__plus_01_dot_26 CandleType) + (objectType DishSponge_bar__minus_00_dot_36_bar__plus_00_dot_83_bar__plus_01_dot_63 DishSpongeType) + (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 ToiletPaper_bar__minus_00_dot_16_bar__plus_00_dot_95_bar__plus_03_dot_85) + (pickupable SoapBar_bar__minus_00_dot_16_bar__plus_00_dot_81_bar__plus_02_dot_24) + (pickupable SoapBar_bar__minus_00_dot_13_bar__plus_00_dot_51_bar__plus_02_dot_90) + (pickupable SprayBottle_bar__minus_00_dot_19_bar__plus_00_dot_95_bar__plus_03_dot_47) + (pickupable SoapBottle_bar__minus_00_dot_14_bar__plus_00_dot_80_bar__plus_01_dot_33) + (pickupable SoapBar_bar__minus_00_dot_11_bar__plus_00_dot_95_bar__plus_03_dot_72) + (pickupable ScrubBrush_bar__minus_00_dot_35_bar_00_dot_00_bar__plus_03_dot_34) + (pickupable SoapBottle_bar__minus_00_dot_42_bar__plus_00_dot_81_bar__plus_03_dot_17) + (pickupable ToiletPaper_bar__minus_01_dot_16_bar__plus_00_dot_90_bar__plus_03_dot_93) + (pickupable SprayBottle_bar__minus_02_dot_17_bar__plus_00_dot_06_bar__plus_03_dot_84) + (pickupable DishSponge_bar__minus_00_dot_41_bar__plus_00_dot_51_bar__plus_01_dot_92) + (pickupable HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_66_bar__plus_03_dot_44) + (pickupable Plunger_bar__minus_00_dot_14_bar_00_dot_00_bar__plus_03_dot_37) + (pickupable Candle_bar__minus_00_dot_16_bar__plus_00_dot_81_bar__plus_03_dot_17) + (pickupable Candle_bar__minus_00_dot_47_bar__plus_00_dot_21_bar__plus_03_dot_07) + (pickupable Candle_bar__minus_00_dot_23_bar__plus_00_dot_81_bar__plus_01_dot_26) + (pickupable DishSponge_bar__minus_00_dot_36_bar__plus_00_dot_83_bar__plus_01_dot_63) + + (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_5_bar_10_bar_3_bar_30) + + (cleanable Cloth_bar__minus_00_dot_30_bar__plus_00_dot_21_bar__plus_03_dot_01) + (cleanable SoapBar_bar__minus_00_dot_16_bar__plus_00_dot_81_bar__plus_02_dot_24) + (cleanable SoapBar_bar__minus_00_dot_13_bar__plus_00_dot_51_bar__plus_02_dot_90) + (cleanable SoapBar_bar__minus_00_dot_11_bar__plus_00_dot_95_bar__plus_03_dot_72) + (cleanable DishSponge_bar__minus_00_dot_41_bar__plus_00_dot_51_bar__plus_01_dot_92) + (cleanable DishSponge_bar__minus_00_dot_36_bar__plus_00_dot_83_bar__plus_01_dot_63) + + + + + + + + + + + (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 DishSponge_bar__minus_00_dot_36_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 SoapBar_bar__minus_00_dot_13_bar__plus_00_dot_51_bar__plus_02_dot_90 Drawer_bar__minus_00_dot_32_bar__plus_00_dot_62_bar__plus_03_dot_01) + (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 Candle_bar__minus_00_dot_47_bar__plus_00_dot_21_bar__plus_03_dot_07 Drawer_bar__minus_00_dot_32_bar__plus_00_dot_32_bar__plus_03_dot_01) + (inReceptacle SoapBottle_bar__minus_00_dot_42_bar__plus_00_dot_81_bar__plus_03_dot_17 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_01_bar__plus_01_dot_45) + (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_16_bar__plus_00_dot_81_bar__plus_03_dot_17 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_01_bar__plus_01_dot_45) + (inReceptacle SoapBar_bar__minus_00_dot_16_bar__plus_00_dot_81_bar__plus_02_dot_24 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_01_bar__plus_01_dot_45) + (inReceptacle Candle_bar__minus_00_dot_23_bar__plus_00_dot_81_bar__plus_01_dot_26 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_51_bar__plus_01_dot_92 Drawer_bar__minus_00_dot_32_bar__plus_00_dot_62_bar__plus_01_dot_98) + (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 SprayBottle_bar__minus_02_dot_17_bar__plus_00_dot_06_bar__plus_03_dot_84 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 SprayBottle_bar__minus_00_dot_19_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 ToiletPaper_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 SoapBar_bar__minus_00_dot_11_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 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_41_bar__plus_00_dot_51_bar__plus_01_dot_92 loc_bar__minus_5_bar_9_bar_1_bar_45) + (objectAtLocation SprayBottle_bar__minus_00_dot_19_bar__plus_00_dot_95_bar__plus_03_dot_47 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 Candle_bar__minus_00_dot_16_bar__plus_00_dot_81_bar__plus_03_dot_17 loc_bar__minus_4_bar_7_bar_1_bar_60) + (objectAtLocation SoapBar_bar__minus_00_dot_16_bar__plus_00_dot_81_bar__plus_02_dot_24 loc_bar__minus_4_bar_7_bar_1_bar_60) + (objectAtLocation Candle_bar__minus_00_dot_23_bar__plus_00_dot_81_bar__plus_01_dot_26 loc_bar__minus_4_bar_7_bar_1_bar_60) + (objectAtLocation SoapBar_bar__minus_00_dot_13_bar__plus_00_dot_51_bar__plus_02_dot_90 loc_bar__minus_5_bar_11_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_00_dot_11_bar__plus_00_dot_95_bar__plus_03_dot_72 loc_bar__minus_4_bar_13_bar_0_bar_60) + (objectAtLocation ToiletPaper_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 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_47_bar__plus_00_dot_21_bar__plus_03_dot_07 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+ "assignment_id": "A1HKHM4NVAO98H_37QW5D2ZRJ3721HRSB2MMC9QRBXS8T", + "high_descs": [ + "turn around and walk forwards to the center of the bathroom sink counter", + "pick up a bar of soap off of the bathroom sink counter", + "move to the left a bit to face the bathroom sink on the left", + "place the bar of soap inside of the sink and rinse it off, then pick it back up", + "turn around and walk to the end of the room, then hang a right turn and walk over to the garbage bin on the floor at the end of the room", + "place the bar of soap inside of the garbage bin" + ], + "task_desc": "place a rinsed off bar of soap inside of the garbage bin", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1GVTH5YS3WOK0_3C8HJ7UOPABJO259H46DNN7OZYGMZH", + "high_descs": [ + "Turn around towards the sinks.", + "Pick up the bar soap in between the sinks.", + "Take a step to the left to face the left sink", + "Place the bar soap in it, wash the soap, and pick it back up.", + "Turn around, walk towards the door, and then turn right towards the metal bin on the floor.", + "place the soap in the bin." + ], + "task_desc": "Place a cleaned soap in the metal bin.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3RUIQRXJBE5FDV6K2REPFVH1KI7LLG", + "high_descs": [ + "Turn around and stand at the counter between the double sinks.", + "Pick up the bar of soap from the counter top.", + "Go left and stand in front of the sink on the left.", + "Put the soap in the sink, turn the water on, turn the water off and take the soap out of the sink.", + "Turn around and approach the silver waste basket on the floor in the corner.", + "Put the soap in the waste basket." + ], + "task_desc": "Put a clean bar of soap in the waste basket.", + "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-421/trial_T20190907_090043_953351/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-GarbageCan-421/trial_T20190907_090043_953351/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..8d7dfc142a225c64d6c4acc0350bc8b9f8a35d8d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-GarbageCan-421/trial_T20190907_090043_953351/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_T20190907_090043_953351)\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_09 - object\n Candle_bar__minus_00_dot_42_bar__plus_00_dot_81_bar__plus_01_dot_40 - object\n Cloth_bar__minus_00_dot_30_bar__plus_00_dot_51_bar__plus_01_dot_52 - object\n Cloth_bar__minus_00_dot_36_bar__plus_00_dot_51_bar__plus_02_dot_96 - object\n DishSponge_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_01_dot_72 - object\n DishSponge_bar__minus_00_dot_30_bar__plus_00_dot_21_bar__plus_02_dot_61 - 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_29_bar__plus_00_dot_81_bar__plus_03_dot_20 - object\n SoapBottle_bar__minus_00_dot_14_bar__plus_00_dot_80_bar__plus_01_dot_33 - object\n SoapBottle_bar__minus_00_dot_42_bar__plus_00_dot_81_bar__plus_02_dot_19 - object\n SprayBottle_bar__minus_00_dot_48_bar__plus_00_dot_81_bar__plus_03_dot_23 - object\n ToiletPaper_bar__minus_00_dot_16_bar__plus_00_dot_95_bar__plus_03_dot_78 - object\n ToiletPaper_bar__minus_00_dot_41_bar__plus_00_dot_51_bar__plus_01_dot_41 - object\n ToiletPaper_bar__minus_01_dot_16_bar__plus_00_dot_90_bar__plus_03_dot_93 - 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_7_bar_9_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 SoapBar_bar__minus_00_dot_29_bar__plus_00_dot_81_bar__plus_03_dot_20 SoapBarType)\n (objectType ShowerGlass_bar__minus_00_dot_77_bar__plus_00_dot_54_bar__plus_00_dot_49 ShowerGlassType)\n (objectType ToiletPaper_bar__minus_00_dot_41_bar__plus_00_dot_51_bar__plus_01_dot_41 ToiletPaperType)\n (objectType Mirror_bar__minus_00_dot_23_bar__plus_00_dot_47_bar__plus_01_dot_45 MirrorType)\n (objectType Candle_bar__minus_00_dot_42_bar__plus_00_dot_81_bar__plus_01_dot_40 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 DishSponge_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_01_dot_72 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_48_bar__plus_00_dot_81_bar__plus_03_dot_23 SprayBottleType)\n (objectType Cloth_bar__minus_00_dot_36_bar__plus_00_dot_51_bar__plus_02_dot_96 ClothType)\n (objectType ToiletPaper_bar__minus_01_dot_16_bar__plus_00_dot_90_bar__plus_03_dot_93 ToiletPaperType)\n (objectType Cloth_bar__minus_00_dot_30_bar__plus_00_dot_51_bar__plus_01_dot_52 ClothType)\n (objectType Candle_bar__minus_00_dot_10_bar__plus_00_dot_81_bar__plus_03_dot_09 CandleType)\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 HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_66_bar__plus_03_dot_44 HandTowelType)\n (objectType Plunger_bar__minus_00_dot_14_bar_00_dot_00_bar__plus_03_dot_37 PlungerType)\n (objectType ToiletPaper_bar__minus_00_dot_16_bar__plus_00_dot_95_bar__plus_03_dot_78 ToiletPaperType)\n (objectType DishSponge_bar__minus_00_dot_30_bar__plus_00_dot_21_bar__plus_02_dot_61 DishSpongeType)\n (objectType SoapBottle_bar__minus_00_dot_42_bar__plus_00_dot_81_bar__plus_02_dot_19 SoapBottleType)\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 SoapBar_bar__minus_00_dot_29_bar__plus_00_dot_81_bar__plus_03_dot_20)\n (pickupable ToiletPaper_bar__minus_00_dot_41_bar__plus_00_dot_51_bar__plus_01_dot_41)\n (pickupable Candle_bar__minus_00_dot_42_bar__plus_00_dot_81_bar__plus_01_dot_40)\n (pickupable SoapBottle_bar__minus_00_dot_14_bar__plus_00_dot_80_bar__plus_01_dot_33)\n (pickupable DishSponge_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_01_dot_72)\n (pickupable ScrubBrush_bar__minus_00_dot_35_bar_00_dot_00_bar__plus_03_dot_34)\n (pickupable SprayBottle_bar__minus_00_dot_48_bar__plus_00_dot_81_bar__plus_03_dot_23)\n (pickupable Cloth_bar__minus_00_dot_36_bar__plus_00_dot_51_bar__plus_02_dot_96)\n (pickupable ToiletPaper_bar__minus_01_dot_16_bar__plus_00_dot_90_bar__plus_03_dot_93)\n (pickupable Cloth_bar__minus_00_dot_30_bar__plus_00_dot_51_bar__plus_01_dot_52)\n (pickupable Candle_bar__minus_00_dot_10_bar__plus_00_dot_81_bar__plus_03_dot_09)\n (pickupable HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_66_bar__plus_03_dot_44)\n (pickupable Plunger_bar__minus_00_dot_14_bar_00_dot_00_bar__plus_03_dot_37)\n (pickupable ToiletPaper_bar__minus_00_dot_16_bar__plus_00_dot_95_bar__plus_03_dot_78)\n (pickupable DishSponge_bar__minus_00_dot_30_bar__plus_00_dot_21_bar__plus_02_dot_61)\n (pickupable SoapBottle_bar__minus_00_dot_42_bar__plus_00_dot_81_bar__plus_02_dot_19)\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_7_bar_9_bar_0_bar_30)\n \n (cleanable SoapBar_bar__minus_00_dot_29_bar__plus_00_dot_81_bar__plus_03_dot_20)\n (cleanable DishSponge_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_01_dot_72)\n (cleanable Cloth_bar__minus_00_dot_36_bar__plus_00_dot_51_bar__plus_02_dot_96)\n (cleanable Cloth_bar__minus_00_dot_30_bar__plus_00_dot_51_bar__plus_01_dot_52)\n (cleanable DishSponge_bar__minus_00_dot_30_bar__plus_00_dot_21_bar__plus_02_dot_61)\n \n \n \n \n \n \n \n \n \n \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 DishSponge_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_01_dot_72 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_36_bar__plus_00_dot_51_bar__plus_02_dot_96 Drawer_bar__minus_00_dot_32_bar__plus_00_dot_62_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 SoapBar_bar__minus_00_dot_29_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 Candle_bar__minus_00_dot_10_bar__plus_00_dot_81_bar__plus_03_dot_09 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_01_bar__plus_01_dot_45)\n (inReceptacle SoapBottle_bar__minus_00_dot_42_bar__plus_00_dot_81_bar__plus_02_dot_19 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_01_bar__plus_01_dot_45)\n (inReceptacle Candle_bar__minus_00_dot_42_bar__plus_00_dot_81_bar__plus_01_dot_40 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_03_dot_23 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_01_bar__plus_01_dot_45)\n (inReceptacle ToiletPaper_bar__minus_00_dot_41_bar__plus_00_dot_51_bar__plus_01_dot_41 Drawer_bar__minus_00_dot_32_bar__plus_00_dot_62_bar__plus_01_dot_46)\n (inReceptacle Cloth_bar__minus_00_dot_30_bar__plus_00_dot_51_bar__plus_01_dot_52 Drawer_bar__minus_00_dot_32_bar__plus_00_dot_62_bar__plus_01_dot_46)\n (inReceptacle DishSponge_bar__minus_00_dot_30_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 ToiletPaper_bar__minus_01_dot_16_bar__plus_00_dot_90_bar__plus_03_dot_93 ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_00_dot_90_bar__plus_04_dot_00)\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 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_16_bar__plus_00_dot_95_bar__plus_03_dot_78 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_30_bar__plus_00_dot_21_bar__plus_02_dot_61 loc_bar__minus_6_bar_8_bar_1_bar_45)\n (objectAtLocation Cloth_bar__minus_00_dot_36_bar__plus_00_dot_51_bar__plus_02_dot_96 loc_bar__minus_5_bar_11_bar_1_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_41_bar__plus_00_dot_51_bar__plus_01_dot_41 loc_bar__minus_5_bar_7_bar_1_bar_45)\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 Candle_bar__minus_00_dot_10_bar__plus_00_dot_81_bar__plus_03_dot_09 loc_bar__minus_4_bar_7_bar_1_bar_60)\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_00_dot_29_bar__plus_00_dot_81_bar__plus_03_dot_20 loc_bar__minus_4_bar_7_bar_1_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_16_bar__plus_00_dot_90_bar__plus_03_dot_93 loc_bar__minus_5_bar_14_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_42_bar__plus_00_dot_81_bar__plus_01_dot_40 loc_bar__minus_4_bar_7_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_42_bar__plus_00_dot_81_bar__plus_02_dot_19 loc_bar__minus_4_bar_7_bar_1_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_16_bar__plus_00_dot_95_bar__plus_03_dot_78 loc_bar__minus_4_bar_13_bar_0_bar_60)\n (objectAtLocation SprayBottle_bar__minus_00_dot_48_bar__plus_00_dot_81_bar__plus_03_dot_23 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_51_bar__plus_01_dot_52 loc_bar__minus_5_bar_7_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_24_bar__plus_00_dot_83_bar__plus_01_dot_72 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 (?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-421/trial_T20190907_090043_953351/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-GarbageCan-421/trial_T20190907_090043_953351/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..181f5fc04bd026a5a6bd6988904374e262d3d0f0 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-GarbageCan-421/trial_T20190907_090043_953351/initial_state.pddl @@ -0,0 +1,519 @@ + +(define (problem plan_trial_T20190907_090043_953351) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_09 - object + Candle_bar__minus_00_dot_42_bar__plus_00_dot_81_bar__plus_01_dot_40 - object + Cloth_bar__minus_00_dot_30_bar__plus_00_dot_51_bar__plus_01_dot_52 - object + Cloth_bar__minus_00_dot_36_bar__plus_00_dot_51_bar__plus_02_dot_96 - object + DishSponge_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_01_dot_72 - object + DishSponge_bar__minus_00_dot_30_bar__plus_00_dot_21_bar__plus_02_dot_61 - 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_29_bar__plus_00_dot_81_bar__plus_03_dot_20 - object + SoapBottle_bar__minus_00_dot_14_bar__plus_00_dot_80_bar__plus_01_dot_33 - object + SoapBottle_bar__minus_00_dot_42_bar__plus_00_dot_81_bar__plus_02_dot_19 - object + SprayBottle_bar__minus_00_dot_48_bar__plus_00_dot_81_bar__plus_03_dot_23 - object + ToiletPaper_bar__minus_00_dot_16_bar__plus_00_dot_95_bar__plus_03_dot_78 - object + ToiletPaper_bar__minus_00_dot_41_bar__plus_00_dot_51_bar__plus_01_dot_41 - object + ToiletPaper_bar__minus_01_dot_16_bar__plus_00_dot_90_bar__plus_03_dot_93 - 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_7_bar_9_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 SoapBar_bar__minus_00_dot_29_bar__plus_00_dot_81_bar__plus_03_dot_20 SoapBarType) + (objectType ShowerGlass_bar__minus_00_dot_77_bar__plus_00_dot_54_bar__plus_00_dot_49 ShowerGlassType) + (objectType ToiletPaper_bar__minus_00_dot_41_bar__plus_00_dot_51_bar__plus_01_dot_41 ToiletPaperType) + (objectType Mirror_bar__minus_00_dot_23_bar__plus_00_dot_47_bar__plus_01_dot_45 MirrorType) + (objectType Candle_bar__minus_00_dot_42_bar__plus_00_dot_81_bar__plus_01_dot_40 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 DishSponge_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_01_dot_72 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_48_bar__plus_00_dot_81_bar__plus_03_dot_23 SprayBottleType) + (objectType Cloth_bar__minus_00_dot_36_bar__plus_00_dot_51_bar__plus_02_dot_96 ClothType) + (objectType ToiletPaper_bar__minus_01_dot_16_bar__plus_00_dot_90_bar__plus_03_dot_93 ToiletPaperType) + (objectType Cloth_bar__minus_00_dot_30_bar__plus_00_dot_51_bar__plus_01_dot_52 ClothType) + (objectType Candle_bar__minus_00_dot_10_bar__plus_00_dot_81_bar__plus_03_dot_09 CandleType) + (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 HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_66_bar__plus_03_dot_44 HandTowelType) + (objectType Plunger_bar__minus_00_dot_14_bar_00_dot_00_bar__plus_03_dot_37 PlungerType) + (objectType ToiletPaper_bar__minus_00_dot_16_bar__plus_00_dot_95_bar__plus_03_dot_78 ToiletPaperType) + (objectType DishSponge_bar__minus_00_dot_30_bar__plus_00_dot_21_bar__plus_02_dot_61 DishSpongeType) + (objectType SoapBottle_bar__minus_00_dot_42_bar__plus_00_dot_81_bar__plus_02_dot_19 SoapBottleType) + (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 SoapBar_bar__minus_00_dot_29_bar__plus_00_dot_81_bar__plus_03_dot_20) + (pickupable ToiletPaper_bar__minus_00_dot_41_bar__plus_00_dot_51_bar__plus_01_dot_41) + (pickupable Candle_bar__minus_00_dot_42_bar__plus_00_dot_81_bar__plus_01_dot_40) + (pickupable SoapBottle_bar__minus_00_dot_14_bar__plus_00_dot_80_bar__plus_01_dot_33) + (pickupable DishSponge_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_01_dot_72) + (pickupable ScrubBrush_bar__minus_00_dot_35_bar_00_dot_00_bar__plus_03_dot_34) + (pickupable SprayBottle_bar__minus_00_dot_48_bar__plus_00_dot_81_bar__plus_03_dot_23) + (pickupable Cloth_bar__minus_00_dot_36_bar__plus_00_dot_51_bar__plus_02_dot_96) + (pickupable ToiletPaper_bar__minus_01_dot_16_bar__plus_00_dot_90_bar__plus_03_dot_93) + (pickupable Cloth_bar__minus_00_dot_30_bar__plus_00_dot_51_bar__plus_01_dot_52) + (pickupable Candle_bar__minus_00_dot_10_bar__plus_00_dot_81_bar__plus_03_dot_09) + (pickupable HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_66_bar__plus_03_dot_44) + (pickupable Plunger_bar__minus_00_dot_14_bar_00_dot_00_bar__plus_03_dot_37) + (pickupable ToiletPaper_bar__minus_00_dot_16_bar__plus_00_dot_95_bar__plus_03_dot_78) + (pickupable DishSponge_bar__minus_00_dot_30_bar__plus_00_dot_21_bar__plus_02_dot_61) + (pickupable SoapBottle_bar__minus_00_dot_42_bar__plus_00_dot_81_bar__plus_02_dot_19) + + (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_7_bar_9_bar_0_bar_30) + + (cleanable SoapBar_bar__minus_00_dot_29_bar__plus_00_dot_81_bar__plus_03_dot_20) + (cleanable DishSponge_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_01_dot_72) + (cleanable Cloth_bar__minus_00_dot_36_bar__plus_00_dot_51_bar__plus_02_dot_96) + (cleanable Cloth_bar__minus_00_dot_30_bar__plus_00_dot_51_bar__plus_01_dot_52) + (cleanable DishSponge_bar__minus_00_dot_30_bar__plus_00_dot_21_bar__plus_02_dot_61) + + + + + + + + + + + (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 DishSponge_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_01_dot_72 Sink_bar__minus_00_dot_30_bar__plus_00_dot_81_bar__plus_01_dot_73_bar_SinkBasin) + (inReceptacle Cloth_bar__minus_00_dot_36_bar__plus_00_dot_51_bar__plus_02_dot_96 Drawer_bar__minus_00_dot_32_bar__plus_00_dot_62_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 SoapBar_bar__minus_00_dot_29_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 Candle_bar__minus_00_dot_10_bar__plus_00_dot_81_bar__plus_03_dot_09 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_01_bar__plus_01_dot_45) + (inReceptacle SoapBottle_bar__minus_00_dot_42_bar__plus_00_dot_81_bar__plus_02_dot_19 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_01_bar__plus_01_dot_45) + (inReceptacle Candle_bar__minus_00_dot_42_bar__plus_00_dot_81_bar__plus_01_dot_40 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_03_dot_23 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_01_bar__plus_01_dot_45) + (inReceptacle ToiletPaper_bar__minus_00_dot_41_bar__plus_00_dot_51_bar__plus_01_dot_41 Drawer_bar__minus_00_dot_32_bar__plus_00_dot_62_bar__plus_01_dot_46) + (inReceptacle Cloth_bar__minus_00_dot_30_bar__plus_00_dot_51_bar__plus_01_dot_52 Drawer_bar__minus_00_dot_32_bar__plus_00_dot_62_bar__plus_01_dot_46) + (inReceptacle DishSponge_bar__minus_00_dot_30_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 ToiletPaper_bar__minus_01_dot_16_bar__plus_00_dot_90_bar__plus_03_dot_93 ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_00_dot_90_bar__plus_04_dot_00) + (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 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_16_bar__plus_00_dot_95_bar__plus_03_dot_78 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_30_bar__plus_00_dot_21_bar__plus_02_dot_61 loc_bar__minus_6_bar_8_bar_1_bar_45) + (objectAtLocation Cloth_bar__minus_00_dot_36_bar__plus_00_dot_51_bar__plus_02_dot_96 loc_bar__minus_5_bar_11_bar_1_bar_45) + (objectAtLocation ToiletPaper_bar__minus_00_dot_41_bar__plus_00_dot_51_bar__plus_01_dot_41 loc_bar__minus_5_bar_7_bar_1_bar_45) + (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 Candle_bar__minus_00_dot_10_bar__plus_00_dot_81_bar__plus_03_dot_09 loc_bar__minus_4_bar_7_bar_1_bar_60) + (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_00_dot_29_bar__plus_00_dot_81_bar__plus_03_dot_20 loc_bar__minus_4_bar_7_bar_1_bar_60) + (objectAtLocation ToiletPaper_bar__minus_01_dot_16_bar__plus_00_dot_90_bar__plus_03_dot_93 loc_bar__minus_5_bar_14_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_42_bar__plus_00_dot_81_bar__plus_01_dot_40 loc_bar__minus_4_bar_7_bar_1_bar_60) + (objectAtLocation 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loc_bar__minus_7_bar_13_bar_3_bar_30) + ) + + + (: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-421/trial_T20190907_090043_953351/traj_data.json b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-GarbageCan-421/trial_T20190907_090043_953351/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..6c10b19ac28f41d6d162ce25817fd4afb56edc2d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-GarbageCan-421/trial_T20190907_090043_953351/traj_data.json @@ -0,0 +1,4084 @@ +{ + "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": "DishSponge_862832c1", + "position": { + "x": -0.3024292, + "y": 0.206633866, + "z": 2.60659027 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2489396868, + "scene_num": 421 + }, + "task_id": "trial_T20190907_090043_953351", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AM2KK02JXXW48_36TFCYNS47R8RT4JPP2FYXJHAHMXHZ", + "high_descs": [ + "Move forward, turn right and head to the sink. ", + "Pick up the soap on the counter.", + "Bring the soap right to the sink on the right. ", + "Wet the soap in the sink with water. ", + "Bring the the soap back and to the left to the trash can.", + "Put the soap in the trash can. " + ], + "task_desc": "Put wet soap in the trash can. ", + "votes": [ + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A320QA9HJFUOZO_373ERPL3YRPEZ692GKDCNY0HKUPRT0", + "high_descs": [ + "Walk forward and right to the left side of the bathroom counter", + "Pick up the soap bar from the left side of the counter", + "Turn right and walk over to the right most sink", + "Wash the soap under water in the sink then remove it", + "Turn around and walk to the trash bin in the opposite corner of the room", + "Put the soap bar in the trash bin" + ], + "task_desc": "Put the washed soap bar in the trash bin", + "votes": [ + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3KF6O09H04SP7_3EF8EXOTT4CWSYEG6WKTF1VVI91J1I", + "high_descs": [ + "Turn right and move to the counter near the sink and toilet.", + "Pick up the pink bar of soap.", + "Turn right and move to the sink to the right, nearest the shower.", + "Place the bar of soap in the sink, turn on the water, cover the soap with water, then drain the water and remove the soap.", + "Turn around and move right to the trash can.", + "Place the soap in the trash can." + ], + "task_desc": "Place a bar of soap in water and throw it away 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-Tomato-None-DiningTable-23/trial_T20190909_000808_543184/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Tomato-None-DiningTable-23/trial_T20190909_000808_543184/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..79a5d25beae606a86f37c9911146836543d8338d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Tomato-None-DiningTable-23/trial_T20190909_000808_543184/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 tomato in diningtable.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_000808_543184)\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_15_bar__plus_01_dot_70_bar__minus_03_dot_84 - object\n Blinds_bar__minus_02_dot_54_bar__plus_02_dot_70_bar__minus_03_dot_96 - object\n Bowl_bar__minus_00_dot_67_bar__plus_00_dot_91_bar__minus_03_dot_63 - object\n Bowl_bar__minus_01_dot_60_bar__plus_01_dot_97_bar__minus_03_dot_85 - object\n Bowl_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_19 - object\n Bread_bar__minus_00_dot_30_bar__plus_01_dot_15_bar__minus_00_dot_87 - object\n Bread_bar__minus_00_dot_41_bar__plus_00_dot_95_bar__minus_03_dot_63 - object\n ButterKnife_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_01_dot_88 - object\n ButterKnife_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_01_dot_19 - object\n Chair_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_25 - object\n Chair_bar__minus_03_dot_26_bar__plus_00_dot_00_bar__minus_02_dot_09 - object\n Cup_bar__minus_00_dot_25_bar__plus_01_dot_39_bar__minus_00_dot_56 - object\n Cup_bar__minus_00_dot_30_bar__plus_00_dot_80_bar__minus_02_dot_01 - object\n Cup_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_02_dot_12 - object\n DishSponge_bar__minus_00_dot_23_bar__plus_01_dot_97_bar__minus_02_dot_14 - object\n Egg_bar__minus_00_dot_45_bar__plus_00_dot_83_bar__minus_01_dot_79 - object\n Faucet_bar__minus_00_dot_08_bar__plus_00_dot_90_bar__minus_02_dot_03 - object\n Fork_bar__minus_00_dot_30_bar__plus_00_dot_79_bar__minus_01_dot_86 - object\n Glassbottle_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_02_dot_56 - object\n Knife_bar__minus_02_dot_67_bar__plus_00_dot_95_bar__minus_02_dot_35 - object\n Lettuce_bar__minus_02_dot_56_bar__plus_01_dot_00_bar__minus_01_dot_68 - object\n LightSwitch_bar__minus_04_dot_32_bar__plus_01_dot_32_bar__plus_00_dot_00 - object\n Mug_bar__minus_00_dot_39_bar__plus_01_dot_09_bar__minus_01_dot_08 - object\n Pan_bar__minus_01_dot_52_bar__plus_00_dot_94_bar__minus_03_dot_75 - object\n Pan_bar__minus_02_dot_17_bar__plus_00_dot_91_bar__minus_01_dot_10 - object\n Pencil_bar__minus_00_dot_66_bar__plus_00_dot_75_bar__minus_03_dot_59 - object\n Pen_bar__minus_02_dot_21_bar__plus_00_dot_93_bar__minus_01_dot_42 - object\n Pen_bar__minus_02_dot_32_bar__plus_00_dot_93_bar__minus_02_dot_35 - object\n PepperShaker_bar__minus_00_dot_75_bar__plus_00_dot_74_bar__minus_03_dot_56 - object\n PepperShaker_bar__minus_02_dot_21_bar__plus_00_dot_92_bar__minus_01_dot_65 - object\n PepperShaker_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_02_dot_35 - object\n Plate_bar__minus_02_dot_78_bar__plus_00_dot_93_bar__minus_01_dot_65 - object\n Plate_bar__minus_02_dot_78_bar__plus_00_dot_93_bar__minus_01_dot_88 - object\n Potato_bar__minus_00_dot_30_bar__plus_01_dot_42_bar__minus_00_dot_98 - object\n Pot_bar__minus_00_dot_39_bar__plus_01_dot_39_bar__minus_00_dot_77 - object\n Pot_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__minus_03_dot_50 - object\n SaltShaker_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_01_dot_19 - object\n Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01 - object\n SoapBottle_bar__minus_00_dot_72_bar__plus_00_dot_08_bar__minus_03_dot_62 - object\n SoapBottle_bar__minus_01_dot_98_bar__plus_00_dot_03_bar__minus_03_dot_76 - object\n SoapBottle_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_00_dot_96 - object\n Spatula_bar__minus_02_dot_32_bar__plus_00_dot_94_bar__minus_02_dot_35 - object\n Spatula_bar__minus_02_dot_44_bar__plus_00_dot_94_bar__minus_01_dot_65 - object\n Spoon_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_01_dot_88 - object\n StoveKnob_bar__minus_01_dot_03_bar__plus_01_dot_08_bar__minus_03_dot_96 - object\n StoveKnob_bar__minus_01_dot_18_bar__plus_01_dot_08_bar__minus_03_dot_96 - object\n StoveKnob_bar__minus_01_dot_42_bar__plus_01_dot_08_bar__minus_03_dot_96 - object\n StoveKnob_bar__minus_01_dot_58_bar__plus_01_dot_08_bar__minus_03_dot_96 - object\n Tomato_bar__minus_00_dot_39_bar__plus_01_dot_45_bar__minus_00_dot_56 - object\n Tomato_bar__minus_02_dot_44_bar__plus_00_dot_99_bar__minus_01_dot_42 - object\n Window_bar__minus_02_dot_50_bar__plus_01_dot_78_bar__minus_04_dot_19 - object\n WineBottle_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_02_dot_12 - object\n WineBottle_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_02_dot_12 - object\n Cabinet_bar__minus_00_dot_30_bar__plus_01_dot_92_bar__minus_02_dot_50 - receptacle\n Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_01_dot_54 - receptacle\n Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_02_dot_48 - receptacle\n Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_92_bar__minus_03_dot_39 - receptacle\n Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_80 - receptacle\n Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_20 - receptacle\n Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_40 - receptacle\n Cabinet_bar__minus_00_dot_88_bar__plus_00_dot_39_bar__minus_03_dot_42 - receptacle\n Cabinet_bar__minus_00_dot_88_bar__plus_02_dot_14_bar__minus_03_dot_69 - receptacle\n Cabinet_bar__minus_01_dot_76_bar__plus_02_dot_14_bar__minus_03_dot_69 - receptacle\n CoffeeMachine_bar__minus_00_dot_12_bar__plus_00_dot_90_bar__minus_03_dot_15 - receptacle\n CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79 - receptacle\n DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70 - receptacle\n Drawer_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__minus_03_dot_27 - receptacle\n Drawer_bar__minus_00_dot_75_bar__plus_00_dot_78_bar__minus_03_dot_55 - receptacle\n Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77 - receptacle\n GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__minus_03_dot_76 - receptacle\n Microwave_bar__minus_01_dot_32_bar__plus_01_dot_52_bar__minus_03_dot_85 - receptacle\n Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_50 - receptacle\n StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_75 - receptacle\n StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_50 - receptacle\n StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_75 - receptacle\n Toaster_bar__minus_00_dot_15_bar__plus_00_dot_90_bar__minus_02_dot_76 - receptacle\n loc_bar__minus_10_bar__minus_14_bar_2_bar__minus_15 - location\n loc_bar__minus_4_bar__minus_12_bar_1_bar_45 - 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_12_bar_2_bar_30 - location\n loc_bar__minus_6_bar__minus_7_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_12_bar_1_bar_45 - location\n loc_bar__minus_6_bar__minus_12_bar_2_bar_45 - location\n loc_bar__minus_5_bar__minus_3_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_7_bar_3_bar_30 - location\n loc_bar__minus_4_bar__minus_12_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_11_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_10_bar_2_bar_60 - location\n loc_bar__minus_5_bar__minus_12_bar_2_bar_15 - location\n loc_bar__minus_9_bar__minus_14_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_12_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30 - location\n loc_bar__minus_6_bar__minus_12_bar_2_bar_60 - location\n loc_bar__minus_13_bar__minus_3_bar_2_bar_60 - location\n loc_bar__minus_5_bar__minus_4_bar_1_bar_30 - location\n loc_bar__minus_6_bar__minus_11_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_9_bar_2_bar__minus_15 - location\n loc_bar__minus_4_bar__minus_6_bar_1_bar__minus_30 - location\n loc_bar__minus_6_bar__minus_12_bar_2_bar_30 - location\n loc_bar__minus_4_bar__minus_9_bar_1_bar_60 - location\n loc_bar__minus_14_bar__minus_7_bar_2_bar_60 - location\n loc_bar__minus_6_bar__minus_5_bar_1_bar_60 - location\n loc_bar__minus_16_bar__minus_2_bar_0_bar_30 - location\n loc_bar__minus_10_bar__minus_14_bar_2_bar__minus_30 - location\n loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_15 - location\n loc_bar__minus_5_bar__minus_12_bar_2_bar_30 - location\n loc_bar__minus_4_bar__minus_12_bar_1_bar__minus_15 - location\n loc_bar__minus_5_bar__minus_12_bar_2_bar_45 - location\n loc_bar__minus_16_bar__minus_7_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70 DiningTableType)\n (receptacleType StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_50 StoveBurnerType)\n (receptacleType StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_75 StoveBurnerType)\n (receptacleType CoffeeMachine_bar__minus_00_dot_12_bar__plus_00_dot_90_bar__minus_03_dot_15 CoffeeMachineType)\n (receptacleType Cabinet_bar__minus_00_dot_30_bar__plus_01_dot_92_bar__minus_02_dot_50 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_76_bar__plus_02_dot_14_bar__minus_03_dot_69 CabinetType)\n (receptacleType Toaster_bar__minus_00_dot_15_bar__plus_00_dot_90_bar__minus_02_dot_76 ToasterType)\n (receptacleType Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin SinkBasinType)\n (receptacleType StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_75 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_02_dot_48 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_20 CabinetType)\n (receptacleType CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79 CounterTopType)\n (receptacleType Cabinet_bar__minus_00_dot_88_bar__plus_02_dot_14_bar__minus_03_dot_69 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_92_bar__minus_03_dot_39 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_01_dot_54 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_40 CabinetType)\n (receptacleType Microwave_bar__minus_01_dot_32_bar__plus_01_dot_52_bar__minus_03_dot_85 MicrowaveType)\n (receptacleType GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__minus_03_dot_76 GarbageCanType)\n (receptacleType Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77 FridgeType)\n (receptacleType Cabinet_bar__minus_00_dot_88_bar__plus_00_dot_39_bar__minus_03_dot_42 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_80 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_75_bar__plus_00_dot_78_bar__minus_03_dot_55 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__minus_03_dot_27 DrawerType)\n (receptacleType StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_50 StoveBurnerType)\n (objectType WineBottle_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_02_dot_12 WineBottleType)\n (objectType DishSponge_bar__minus_00_dot_23_bar__plus_01_dot_97_bar__minus_02_dot_14 DishSpongeType)\n (objectType Bowl_bar__minus_01_dot_60_bar__plus_01_dot_97_bar__minus_03_dot_85 BowlType)\n (objectType Pan_bar__minus_01_dot_52_bar__plus_00_dot_94_bar__minus_03_dot_75 PanType)\n (objectType Window_bar__minus_02_dot_50_bar__plus_01_dot_78_bar__minus_04_dot_19 WindowType)\n (objectType Cup_bar__minus_00_dot_30_bar__plus_00_dot_80_bar__minus_02_dot_01 CupType)\n (objectType StoveKnob_bar__minus_01_dot_03_bar__plus_01_dot_08_bar__minus_03_dot_96 StoveKnobType)\n (objectType SoapBottle_bar__minus_00_dot_72_bar__plus_00_dot_08_bar__minus_03_dot_62 SoapBottleType)\n (objectType Pen_bar__minus_02_dot_21_bar__plus_00_dot_93_bar__minus_01_dot_42 PenType)\n (objectType Bread_bar__minus_00_dot_30_bar__plus_01_dot_15_bar__minus_00_dot_87 BreadType)\n (objectType PepperShaker_bar__minus_00_dot_75_bar__plus_00_dot_74_bar__minus_03_dot_56 PepperShakerType)\n (objectType ButterKnife_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_01_dot_88 ButterKnifeType)\n (objectType Chair_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_25 ChairType)\n (objectType Pot_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__minus_03_dot_50 PotType)\n (objectType Plate_bar__minus_02_dot_78_bar__plus_00_dot_93_bar__minus_01_dot_88 PlateType)\n (objectType Bread_bar__minus_00_dot_41_bar__plus_00_dot_95_bar__minus_03_dot_63 BreadType)\n (objectType Bowl_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_19 BowlType)\n (objectType Pencil_bar__minus_00_dot_66_bar__plus_00_dot_75_bar__minus_03_dot_59 PencilType)\n (objectType StoveKnob_bar__minus_01_dot_58_bar__plus_01_dot_08_bar__minus_03_dot_96 StoveKnobType)\n (objectType Potato_bar__minus_00_dot_30_bar__plus_01_dot_42_bar__minus_00_dot_98 PotatoType)\n (objectType ButterKnife_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_01_dot_19 ButterKnifeType)\n (objectType Egg_bar__minus_00_dot_45_bar__plus_00_dot_83_bar__minus_01_dot_79 EggType)\n (objectType Chair_bar__minus_03_dot_26_bar__plus_00_dot_00_bar__minus_02_dot_09 ChairType)\n (objectType Knife_bar__minus_02_dot_67_bar__plus_00_dot_95_bar__minus_02_dot_35 KnifeType)\n (objectType Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01 SinkType)\n (objectType Apple_bar__minus_01_dot_15_bar__plus_01_dot_70_bar__minus_03_dot_84 AppleType)\n (objectType Tomato_bar__minus_00_dot_39_bar__plus_01_dot_45_bar__minus_00_dot_56 TomatoType)\n (objectType Pen_bar__minus_02_dot_32_bar__plus_00_dot_93_bar__minus_02_dot_35 PenType)\n (objectType SoapBottle_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_00_dot_96 SoapBottleType)\n (objectType Cup_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_02_dot_12 CupType)\n (objectType Blinds_bar__minus_02_dot_54_bar__plus_02_dot_70_bar__minus_03_dot_96 BlindsType)\n (objectType Tomato_bar__minus_02_dot_44_bar__plus_00_dot_99_bar__minus_01_dot_42 TomatoType)\n (objectType SaltShaker_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_01_dot_19 SaltShakerType)\n (objectType Bowl_bar__minus_00_dot_67_bar__plus_00_dot_91_bar__minus_03_dot_63 BowlType)\n (objectType Spoon_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_01_dot_88 SpoonType)\n (objectType WineBottle_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_02_dot_12 WineBottleType)\n (objectType Fork_bar__minus_00_dot_30_bar__plus_00_dot_79_bar__minus_01_dot_86 ForkType)\n (objectType Spatula_bar__minus_02_dot_44_bar__plus_00_dot_94_bar__minus_01_dot_65 SpatulaType)\n (objectType Plate_bar__minus_02_dot_78_bar__plus_00_dot_93_bar__minus_01_dot_65 PlateType)\n (objectType PepperShaker_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_02_dot_35 PepperShakerType)\n (objectType 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Mug_bar__minus_00_dot_39_bar__plus_01_dot_09_bar__minus_01_dot_08)\n (cleanable Pan_bar__minus_02_dot_17_bar__plus_00_dot_91_bar__minus_01_dot_10)\n (cleanable Spatula_bar__minus_02_dot_32_bar__plus_00_dot_94_bar__minus_02_dot_35)\n \n (heatable Cup_bar__minus_00_dot_30_bar__plus_00_dot_80_bar__minus_02_dot_01)\n (heatable Bread_bar__minus_00_dot_30_bar__plus_01_dot_15_bar__minus_00_dot_87)\n (heatable Plate_bar__minus_02_dot_78_bar__plus_00_dot_93_bar__minus_01_dot_88)\n (heatable Bread_bar__minus_00_dot_41_bar__plus_00_dot_95_bar__minus_03_dot_63)\n (heatable Potato_bar__minus_00_dot_30_bar__plus_01_dot_42_bar__minus_00_dot_98)\n (heatable Egg_bar__minus_00_dot_45_bar__plus_00_dot_83_bar__minus_01_dot_79)\n (heatable Apple_bar__minus_01_dot_15_bar__plus_01_dot_70_bar__minus_03_dot_84)\n (heatable Tomato_bar__minus_00_dot_39_bar__plus_01_dot_45_bar__minus_00_dot_56)\n (heatable Cup_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_02_dot_12)\n (heatable Tomato_bar__minus_02_dot_44_bar__plus_00_dot_99_bar__minus_01_dot_42)\n (heatable Plate_bar__minus_02_dot_78_bar__plus_00_dot_93_bar__minus_01_dot_65)\n (heatable Cup_bar__minus_00_dot_25_bar__plus_01_dot_39_bar__minus_00_dot_56)\n (heatable Mug_bar__minus_00_dot_39_bar__plus_01_dot_09_bar__minus_01_dot_08)\n (coolable WineBottle_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_02_dot_12)\n (coolable Bowl_bar__minus_01_dot_60_bar__plus_01_dot_97_bar__minus_03_dot_85)\n (coolable Pan_bar__minus_01_dot_52_bar__plus_00_dot_94_bar__minus_03_dot_75)\n (coolable Cup_bar__minus_00_dot_30_bar__plus_00_dot_80_bar__minus_02_dot_01)\n (coolable Bread_bar__minus_00_dot_30_bar__plus_01_dot_15_bar__minus_00_dot_87)\n (coolable Pot_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__minus_03_dot_50)\n (coolable Plate_bar__minus_02_dot_78_bar__plus_00_dot_93_bar__minus_01_dot_88)\n (coolable Bread_bar__minus_00_dot_41_bar__plus_00_dot_95_bar__minus_03_dot_63)\n (coolable 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Cup_bar__minus_00_dot_25_bar__plus_01_dot_39_bar__minus_00_dot_56)\n (coolable Mug_bar__minus_00_dot_39_bar__plus_01_dot_09_bar__minus_01_dot_08)\n (coolable Pan_bar__minus_02_dot_17_bar__plus_00_dot_91_bar__minus_01_dot_10)\n \n (isCool Tomato_bar__minus_00_dot_39_bar__plus_01_dot_45_bar__minus_00_dot_56)\n \n \n \n (sliceable Bread_bar__minus_00_dot_30_bar__plus_01_dot_15_bar__minus_00_dot_87)\n (sliceable Bread_bar__minus_00_dot_41_bar__plus_00_dot_95_bar__minus_03_dot_63)\n (sliceable Potato_bar__minus_00_dot_30_bar__plus_01_dot_42_bar__minus_00_dot_98)\n (sliceable Egg_bar__minus_00_dot_45_bar__plus_00_dot_83_bar__minus_01_dot_79)\n (sliceable Apple_bar__minus_01_dot_15_bar__plus_01_dot_70_bar__minus_03_dot_84)\n (sliceable Tomato_bar__minus_00_dot_39_bar__plus_01_dot_45_bar__minus_00_dot_56)\n (sliceable Tomato_bar__minus_02_dot_44_bar__plus_00_dot_99_bar__minus_01_dot_42)\n (sliceable Lettuce_bar__minus_02_dot_56_bar__plus_01_dot_00_bar__minus_01_dot_68)\n \n (inReceptacle Pan_bar__minus_01_dot_52_bar__plus_00_dot_94_bar__minus_03_dot_75 StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_75)\n (inReceptacle Pot_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__minus_03_dot_50 StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_50)\n (inReceptacle PepperShaker_bar__minus_00_dot_75_bar__plus_00_dot_74_bar__minus_03_dot_56 Drawer_bar__minus_00_dot_75_bar__plus_00_dot_78_bar__minus_03_dot_55)\n (inReceptacle Pencil_bar__minus_00_dot_66_bar__plus_00_dot_75_bar__minus_03_dot_59 Drawer_bar__minus_00_dot_75_bar__plus_00_dot_78_bar__minus_03_dot_55)\n (inReceptacle Glassbottle_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_02_dot_56 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79)\n (inReceptacle Bread_bar__minus_00_dot_41_bar__plus_00_dot_95_bar__minus_03_dot_63 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79)\n (inReceptacle Bowl_bar__minus_00_dot_67_bar__plus_00_dot_91_bar__minus_03_dot_63 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79)\n (inReceptacle WineBottle_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_02_dot_12 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Pen_bar__minus_02_dot_21_bar__plus_00_dot_93_bar__minus_01_dot_42 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle ButterKnife_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_01_dot_88 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Plate_bar__minus_02_dot_78_bar__plus_00_dot_93_bar__minus_01_dot_88 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Bowl_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_19 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle ButterKnife_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_01_dot_19 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Knife_bar__minus_02_dot_67_bar__plus_00_dot_95_bar__minus_02_dot_35 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Pen_bar__minus_02_dot_32_bar__plus_00_dot_93_bar__minus_02_dot_35 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle SoapBottle_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_00_dot_96 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Cup_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_02_dot_12 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Tomato_bar__minus_02_dot_44_bar__plus_00_dot_99_bar__minus_01_dot_42 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle SaltShaker_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_01_dot_19 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Spoon_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_01_dot_88 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle WineBottle_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_02_dot_12 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Plate_bar__minus_02_dot_78_bar__plus_00_dot_93_bar__minus_01_dot_65 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Spatula_bar__minus_02_dot_44_bar__plus_00_dot_94_bar__minus_01_dot_65 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle PepperShaker_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_02_dot_35 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle PepperShaker_bar__minus_02_dot_21_bar__plus_00_dot_92_bar__minus_01_dot_65 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Lettuce_bar__minus_02_dot_56_bar__plus_01_dot_00_bar__minus_01_dot_68 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Pan_bar__minus_02_dot_17_bar__plus_00_dot_91_bar__minus_01_dot_10 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Spatula_bar__minus_02_dot_32_bar__plus_00_dot_94_bar__minus_02_dot_35 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle SoapBottle_bar__minus_00_dot_72_bar__plus_00_dot_08_bar__minus_03_dot_62 Cabinet_bar__minus_00_dot_88_bar__plus_00_dot_39_bar__minus_03_dot_42)\n (inReceptacle DishSponge_bar__minus_00_dot_23_bar__plus_01_dot_97_bar__minus_02_dot_14 Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_02_dot_48)\n (inReceptacle Bowl_bar__minus_01_dot_60_bar__plus_01_dot_97_bar__minus_03_dot_85 Cabinet_bar__minus_01_dot_76_bar__plus_02_dot_14_bar__minus_03_dot_69)\n (inReceptacle Apple_bar__minus_01_dot_15_bar__plus_01_dot_70_bar__minus_03_dot_84 Microwave_bar__minus_01_dot_32_bar__plus_01_dot_52_bar__minus_03_dot_85)\n (inReceptacle SoapBottle_bar__minus_01_dot_98_bar__plus_00_dot_03_bar__minus_03_dot_76 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__minus_03_dot_76)\n (inReceptacle Potato_bar__minus_00_dot_30_bar__plus_01_dot_42_bar__minus_00_dot_98 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle Pot_bar__minus_00_dot_39_bar__plus_01_dot_39_bar__minus_00_dot_77 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle Bread_bar__minus_00_dot_30_bar__plus_01_dot_15_bar__minus_00_dot_87 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle Cup_bar__minus_00_dot_25_bar__plus_01_dot_39_bar__minus_00_dot_56 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle Tomato_bar__minus_00_dot_39_bar__plus_01_dot_45_bar__minus_00_dot_56 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle Fork_bar__minus_00_dot_30_bar__plus_00_dot_79_bar__minus_01_dot_86 Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Egg_bar__minus_00_dot_45_bar__plus_00_dot_83_bar__minus_01_dot_79 Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Cup_bar__minus_00_dot_30_bar__plus_00_dot_80_bar__minus_02_dot_01 Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__minus_00_dot_30_bar__plus_01_dot_92_bar__minus_02_dot_50 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_01_dot_54 loc_bar__minus_4_bar__minus_6_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_02_dot_48 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_92_bar__minus_03_dot_39 loc_bar__minus_4_bar__minus_12_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_80 loc_bar__minus_6_bar__minus_5_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_20 loc_bar__minus_6_bar__minus_7_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_40 loc_bar__minus_6_bar__minus_11_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_88_bar__plus_00_dot_39_bar__minus_03_dot_42 loc_bar__minus_4_bar__minus_10_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_88_bar__plus_02_dot_14_bar__minus_03_dot_69 loc_bar__minus_4_bar__minus_9_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_76_bar__plus_02_dot_14_bar__minus_03_dot_69 loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_15)\n (receptacleAtLocation CoffeeMachine_bar__minus_00_dot_12_bar__plus_00_dot_90_bar__minus_03_dot_15 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (receptacleAtLocation Drawer_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__minus_03_dot_27 loc_bar__minus_5_bar__minus_12_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_75_bar__plus_00_dot_78_bar__minus_03_dot_55 loc_bar__minus_4_bar__minus_12_bar_2_bar_60)\n (receptacleAtLocation Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__minus_03_dot_76 loc_bar__minus_9_bar__minus_14_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__minus_01_dot_32_bar__plus_01_dot_52_bar__minus_03_dot_85 loc_bar__minus_5_bar__minus_12_bar_2_bar_15)\n (receptacleAtLocation Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_50 loc_bar__minus_5_bar__minus_12_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_75 loc_bar__minus_5_bar__minus_12_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_50 loc_bar__minus_6_bar__minus_12_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_75 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (receptacleAtLocation Toaster_bar__minus_00_dot_15_bar__plus_00_dot_90_bar__minus_02_dot_76 loc_bar__minus_4_bar__minus_11_bar_1_bar_45)\n (objectAtLocation Bowl_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_19 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Plate_bar__minus_02_dot_78_bar__plus_00_dot_93_bar__minus_01_dot_88 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation ButterKnife_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_01_dot_19 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation PepperShaker_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_02_dot_35 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Pot_bar__minus_00_dot_39_bar__plus_01_dot_39_bar__minus_00_dot_77 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Cup_bar__minus_00_dot_30_bar__plus_00_dot_80_bar__minus_02_dot_01 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation Pan_bar__minus_02_dot_17_bar__plus_00_dot_91_bar__minus_01_dot_10 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Tomato_bar__minus_02_dot_44_bar__plus_00_dot_99_bar__minus_01_dot_42 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Bread_bar__minus_00_dot_41_bar__plus_00_dot_95_bar__minus_03_dot_63 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation Spatula_bar__minus_02_dot_44_bar__plus_00_dot_94_bar__minus_01_dot_65 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation WineBottle_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_02_dot_12 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation SoapBottle_bar__minus_00_dot_72_bar__plus_00_dot_08_bar__minus_03_dot_62 loc_bar__minus_4_bar__minus_10_bar_2_bar_60)\n (objectAtLocation Pen_bar__minus_02_dot_21_bar__plus_00_dot_93_bar__minus_01_dot_42 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation PepperShaker_bar__minus_02_dot_21_bar__plus_00_dot_92_bar__minus_01_dot_65 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Bowl_bar__minus_00_dot_67_bar__plus_00_dot_91_bar__minus_03_dot_63 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_98_bar__plus_00_dot_03_bar__minus_03_dot_76 loc_bar__minus_9_bar__minus_14_bar_1_bar_60)\n (objectAtLocation Cup_bar__minus_00_dot_25_bar__plus_01_dot_39_bar__minus_00_dot_56 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01 loc_bar__minus_4_bar__minus_8_bar_1_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_15_bar__plus_01_dot_70_bar__minus_03_dot_84 loc_bar__minus_5_bar__minus_12_bar_2_bar_15)\n (objectAtLocation Lettuce_bar__minus_02_dot_56_bar__plus_01_dot_00_bar__minus_01_dot_68 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Glassbottle_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_02_dot_56 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_45_bar__plus_00_dot_83_bar__minus_01_dot_79 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation Pen_bar__minus_02_dot_32_bar__plus_00_dot_93_bar__minus_02_dot_35 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Fork_bar__minus_00_dot_30_bar__plus_00_dot_79_bar__minus_01_dot_86 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__minus_04_dot_32_bar__plus_01_dot_32_bar__plus_00_dot_00 loc_bar__minus_16_bar__minus_2_bar_0_bar_30)\n (objectAtLocation SoapBottle_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_00_dot_96 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Pencil_bar__minus_00_dot_66_bar__plus_00_dot_75_bar__minus_03_dot_59 loc_bar__minus_4_bar__minus_12_bar_2_bar_60)\n (objectAtLocation WineBottle_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_02_dot_12 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Spatula_bar__minus_02_dot_32_bar__plus_00_dot_94_bar__minus_02_dot_35 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Bread_bar__minus_00_dot_30_bar__plus_01_dot_15_bar__minus_00_dot_87 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Tomato_bar__minus_00_dot_39_bar__plus_01_dot_45_bar__minus_00_dot_56 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Pan_bar__minus_01_dot_52_bar__plus_00_dot_94_bar__minus_03_dot_75 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (objectAtLocation Cup_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_02_dot_12 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Pot_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__minus_03_dot_50 loc_bar__minus_5_bar__minus_12_bar_2_bar_60)\n (objectAtLocation SaltShaker_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_01_dot_19 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Potato_bar__minus_00_dot_30_bar__plus_01_dot_42_bar__minus_00_dot_98 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__minus_00_dot_75_bar__plus_00_dot_74_bar__minus_03_dot_56 loc_bar__minus_4_bar__minus_12_bar_2_bar_60)\n (objectAtLocation ButterKnife_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_01_dot_88 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation StoveKnob_bar__minus_01_dot_58_bar__plus_01_dot_08_bar__minus_03_dot_96 loc_bar__minus_6_bar__minus_12_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_01_dot_18_bar__plus_01_dot_08_bar__minus_03_dot_96 loc_bar__minus_5_bar__minus_12_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_01_dot_42_bar__plus_01_dot_08_bar__minus_03_dot_96 loc_bar__minus_6_bar__minus_12_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_01_dot_03_bar__plus_01_dot_08_bar__minus_03_dot_96 loc_bar__minus_4_bar__minus_12_bar_2_bar_30)\n (objectAtLocation DishSponge_bar__minus_00_dot_23_bar__plus_01_dot_97_bar__minus_02_dot_14 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30)\n (objectAtLocation Window_bar__minus_02_dot_50_bar__plus_01_dot_78_bar__minus_04_dot_19 loc_bar__minus_10_bar__minus_14_bar_2_bar__minus_15)\n (objectAtLocation Chair_bar__minus_03_dot_26_bar__plus_00_dot_00_bar__minus_02_dot_09 loc_bar__minus_14_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_25 loc_bar__minus_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Spoon_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_01_dot_88 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Plate_bar__minus_02_dot_78_bar__plus_00_dot_93_bar__minus_01_dot_65 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Knife_bar__minus_02_dot_67_bar__plus_00_dot_95_bar__minus_02_dot_35 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Mug_bar__minus_00_dot_39_bar__plus_01_dot_09_bar__minus_01_dot_08 loc_bar__minus_5_bar__minus_4_bar_1_bar_30)\n (objectAtLocation Blinds_bar__minus_02_dot_54_bar__plus_02_dot_70_bar__minus_03_dot_96 loc_bar__minus_10_bar__minus_14_bar_2_bar__minus_30)\n (objectAtLocation Bowl_bar__minus_01_dot_60_bar__plus_01_dot_97_bar__minus_03_dot_85 loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_15)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o TomatoType)\n (receptacleType ?r DiningTableType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 1", "take tomato 1 from diningtable 1", "go to sinkbasin 1", "clean tomato 1 with sinkbasin 1", "go to diningtable 1", "move tomato 1 to diningtable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Tomato-None-DiningTable-23/trial_T20190909_000808_543184/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Tomato-None-DiningTable-23/trial_T20190909_000808_543184/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..0bdd152c29195d0646ce1b866a74c766064205b1 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Tomato-None-DiningTable-23/trial_T20190909_000808_543184/initial_state.pddl @@ -0,0 +1,926 @@ + +(define (problem plan_trial_T20190909_000808_543184) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_15_bar__plus_01_dot_70_bar__minus_03_dot_84 - object + Blinds_bar__minus_02_dot_54_bar__plus_02_dot_70_bar__minus_03_dot_96 - object + Bowl_bar__minus_00_dot_67_bar__plus_00_dot_91_bar__minus_03_dot_63 - object + Bowl_bar__minus_01_dot_60_bar__plus_01_dot_97_bar__minus_03_dot_85 - object + Bowl_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_19 - object + Bread_bar__minus_00_dot_30_bar__plus_01_dot_15_bar__minus_00_dot_87 - object + Bread_bar__minus_00_dot_41_bar__plus_00_dot_95_bar__minus_03_dot_63 - object + ButterKnife_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_01_dot_88 - object + ButterKnife_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_01_dot_19 - object + Chair_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_25 - object + Chair_bar__minus_03_dot_26_bar__plus_00_dot_00_bar__minus_02_dot_09 - object + Cup_bar__minus_00_dot_25_bar__plus_01_dot_39_bar__minus_00_dot_56 - object + Cup_bar__minus_00_dot_30_bar__plus_00_dot_80_bar__minus_02_dot_01 - object + Cup_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_02_dot_12 - object + DishSponge_bar__minus_00_dot_23_bar__plus_01_dot_97_bar__minus_02_dot_14 - object + Egg_bar__minus_00_dot_45_bar__plus_00_dot_83_bar__minus_01_dot_79 - object + Faucet_bar__minus_00_dot_08_bar__plus_00_dot_90_bar__minus_02_dot_03 - object + Fork_bar__minus_00_dot_30_bar__plus_00_dot_79_bar__minus_01_dot_86 - object + Glassbottle_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_02_dot_56 - object + Knife_bar__minus_02_dot_67_bar__plus_00_dot_95_bar__minus_02_dot_35 - object + Lettuce_bar__minus_02_dot_56_bar__plus_01_dot_00_bar__minus_01_dot_68 - object + LightSwitch_bar__minus_04_dot_32_bar__plus_01_dot_32_bar__plus_00_dot_00 - object + Mug_bar__minus_00_dot_39_bar__plus_01_dot_09_bar__minus_01_dot_08 - object + Pan_bar__minus_01_dot_52_bar__plus_00_dot_94_bar__minus_03_dot_75 - object + Pan_bar__minus_02_dot_17_bar__plus_00_dot_91_bar__minus_01_dot_10 - object + Pencil_bar__minus_00_dot_66_bar__plus_00_dot_75_bar__minus_03_dot_59 - object + Pen_bar__minus_02_dot_21_bar__plus_00_dot_93_bar__minus_01_dot_42 - object + Pen_bar__minus_02_dot_32_bar__plus_00_dot_93_bar__minus_02_dot_35 - object + PepperShaker_bar__minus_00_dot_75_bar__plus_00_dot_74_bar__minus_03_dot_56 - object + PepperShaker_bar__minus_02_dot_21_bar__plus_00_dot_92_bar__minus_01_dot_65 - object + PepperShaker_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_02_dot_35 - object + Plate_bar__minus_02_dot_78_bar__plus_00_dot_93_bar__minus_01_dot_65 - object + Plate_bar__minus_02_dot_78_bar__plus_00_dot_93_bar__minus_01_dot_88 - object + Potato_bar__minus_00_dot_30_bar__plus_01_dot_42_bar__minus_00_dot_98 - object + Pot_bar__minus_00_dot_39_bar__plus_01_dot_39_bar__minus_00_dot_77 - object + Pot_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__minus_03_dot_50 - object + SaltShaker_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_01_dot_19 - object + Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01 - object + SoapBottle_bar__minus_00_dot_72_bar__plus_00_dot_08_bar__minus_03_dot_62 - object + SoapBottle_bar__minus_01_dot_98_bar__plus_00_dot_03_bar__minus_03_dot_76 - object + SoapBottle_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_00_dot_96 - object + Spatula_bar__minus_02_dot_32_bar__plus_00_dot_94_bar__minus_02_dot_35 - object + Spatula_bar__minus_02_dot_44_bar__plus_00_dot_94_bar__minus_01_dot_65 - object + Spoon_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_01_dot_88 - object + StoveKnob_bar__minus_01_dot_03_bar__plus_01_dot_08_bar__minus_03_dot_96 - object + StoveKnob_bar__minus_01_dot_18_bar__plus_01_dot_08_bar__minus_03_dot_96 - object + StoveKnob_bar__minus_01_dot_42_bar__plus_01_dot_08_bar__minus_03_dot_96 - object + StoveKnob_bar__minus_01_dot_58_bar__plus_01_dot_08_bar__minus_03_dot_96 - object + Tomato_bar__minus_00_dot_39_bar__plus_01_dot_45_bar__minus_00_dot_56 - object + Tomato_bar__minus_02_dot_44_bar__plus_00_dot_99_bar__minus_01_dot_42 - object + Window_bar__minus_02_dot_50_bar__plus_01_dot_78_bar__minus_04_dot_19 - object + WineBottle_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_02_dot_12 - object + WineBottle_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_02_dot_12 - object + Cabinet_bar__minus_00_dot_30_bar__plus_01_dot_92_bar__minus_02_dot_50 - receptacle + Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_01_dot_54 - receptacle + Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_02_dot_48 - receptacle + Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_92_bar__minus_03_dot_39 - receptacle + Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_80 - receptacle + Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_20 - receptacle + Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_40 - receptacle + Cabinet_bar__minus_00_dot_88_bar__plus_00_dot_39_bar__minus_03_dot_42 - receptacle + Cabinet_bar__minus_00_dot_88_bar__plus_02_dot_14_bar__minus_03_dot_69 - receptacle + Cabinet_bar__minus_01_dot_76_bar__plus_02_dot_14_bar__minus_03_dot_69 - receptacle + CoffeeMachine_bar__minus_00_dot_12_bar__plus_00_dot_90_bar__minus_03_dot_15 - receptacle + CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79 - receptacle + DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70 - receptacle + Drawer_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__minus_03_dot_27 - receptacle + Drawer_bar__minus_00_dot_75_bar__plus_00_dot_78_bar__minus_03_dot_55 - receptacle + Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77 - receptacle + GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__minus_03_dot_76 - receptacle + Microwave_bar__minus_01_dot_32_bar__plus_01_dot_52_bar__minus_03_dot_85 - receptacle + Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin - receptacle + StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_50 - receptacle + StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_75 - receptacle + StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_50 - receptacle + StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_75 - receptacle + Toaster_bar__minus_00_dot_15_bar__plus_00_dot_90_bar__minus_02_dot_76 - receptacle + loc_bar__minus_10_bar__minus_14_bar_2_bar__minus_15 - location + loc_bar__minus_4_bar__minus_12_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_15 - location + loc_bar__minus_4_bar__minus_8_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_12_bar_2_bar_30 - location + loc_bar__minus_6_bar__minus_7_bar_1_bar_60 - location + loc_bar__minus_5_bar__minus_12_bar_1_bar_45 - location + loc_bar__minus_6_bar__minus_12_bar_2_bar_45 - location + loc_bar__minus_5_bar__minus_3_bar_1_bar_60 - location + loc_bar__minus_5_bar__minus_7_bar_3_bar_30 - location + loc_bar__minus_4_bar__minus_12_bar_2_bar_60 - location + loc_bar__minus_4_bar__minus_11_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_10_bar_2_bar_60 - location + loc_bar__minus_5_bar__minus_12_bar_2_bar_15 - location + loc_bar__minus_9_bar__minus_14_bar_1_bar_60 - location + loc_bar__minus_5_bar__minus_12_bar_2_bar_60 - location + loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30 - location + loc_bar__minus_6_bar__minus_12_bar_2_bar_60 - location + loc_bar__minus_13_bar__minus_3_bar_2_bar_60 - location + loc_bar__minus_5_bar__minus_4_bar_1_bar_30 - location + loc_bar__minus_6_bar__minus_11_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_9_bar_2_bar__minus_15 - location + loc_bar__minus_4_bar__minus_6_bar_1_bar__minus_30 - location + loc_bar__minus_6_bar__minus_12_bar_2_bar_30 - location + loc_bar__minus_4_bar__minus_9_bar_1_bar_60 - location + loc_bar__minus_14_bar__minus_7_bar_2_bar_60 - location + loc_bar__minus_6_bar__minus_5_bar_1_bar_60 - location + loc_bar__minus_16_bar__minus_2_bar_0_bar_30 - location + loc_bar__minus_10_bar__minus_14_bar_2_bar__minus_30 - location + loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_15 - location + loc_bar__minus_5_bar__minus_12_bar_2_bar_30 - location + loc_bar__minus_4_bar__minus_12_bar_1_bar__minus_15 - location + loc_bar__minus_5_bar__minus_12_bar_2_bar_45 - location + loc_bar__minus_16_bar__minus_7_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70 DiningTableType) + (receptacleType StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_50 StoveBurnerType) + (receptacleType StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_75 StoveBurnerType) + (receptacleType CoffeeMachine_bar__minus_00_dot_12_bar__plus_00_dot_90_bar__minus_03_dot_15 CoffeeMachineType) + (receptacleType Cabinet_bar__minus_00_dot_30_bar__plus_01_dot_92_bar__minus_02_dot_50 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_76_bar__plus_02_dot_14_bar__minus_03_dot_69 CabinetType) + (receptacleType Toaster_bar__minus_00_dot_15_bar__plus_00_dot_90_bar__minus_02_dot_76 ToasterType) + (receptacleType Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin SinkBasinType) + (receptacleType StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_75 StoveBurnerType) + (receptacleType Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_02_dot_48 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_20 CabinetType) + (receptacleType CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79 CounterTopType) + (receptacleType Cabinet_bar__minus_00_dot_88_bar__plus_02_dot_14_bar__minus_03_dot_69 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_92_bar__minus_03_dot_39 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_01_dot_54 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_40 CabinetType) + (receptacleType Microwave_bar__minus_01_dot_32_bar__plus_01_dot_52_bar__minus_03_dot_85 MicrowaveType) + (receptacleType GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__minus_03_dot_76 GarbageCanType) + (receptacleType Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77 FridgeType) + (receptacleType Cabinet_bar__minus_00_dot_88_bar__plus_00_dot_39_bar__minus_03_dot_42 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_80 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_75_bar__plus_00_dot_78_bar__minus_03_dot_55 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__minus_03_dot_27 DrawerType) + (receptacleType StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_50 StoveBurnerType) + (objectType WineBottle_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_02_dot_12 WineBottleType) + (objectType DishSponge_bar__minus_00_dot_23_bar__plus_01_dot_97_bar__minus_02_dot_14 DishSpongeType) + (objectType Bowl_bar__minus_01_dot_60_bar__plus_01_dot_97_bar__minus_03_dot_85 BowlType) + (objectType Pan_bar__minus_01_dot_52_bar__plus_00_dot_94_bar__minus_03_dot_75 PanType) + (objectType Window_bar__minus_02_dot_50_bar__plus_01_dot_78_bar__minus_04_dot_19 WindowType) + (objectType Cup_bar__minus_00_dot_30_bar__plus_00_dot_80_bar__minus_02_dot_01 CupType) + (objectType StoveKnob_bar__minus_01_dot_03_bar__plus_01_dot_08_bar__minus_03_dot_96 StoveKnobType) + (objectType SoapBottle_bar__minus_00_dot_72_bar__plus_00_dot_08_bar__minus_03_dot_62 SoapBottleType) + (objectType Pen_bar__minus_02_dot_21_bar__plus_00_dot_93_bar__minus_01_dot_42 PenType) + (objectType Bread_bar__minus_00_dot_30_bar__plus_01_dot_15_bar__minus_00_dot_87 BreadType) + (objectType 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PepperShaker_bar__minus_00_dot_75_bar__plus_00_dot_74_bar__minus_03_dot_56) + (pickupable ButterKnife_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_01_dot_88) + (pickupable Pot_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__minus_03_dot_50) + (pickupable Plate_bar__minus_02_dot_78_bar__plus_00_dot_93_bar__minus_01_dot_88) + (pickupable Bread_bar__minus_00_dot_41_bar__plus_00_dot_95_bar__minus_03_dot_63) + (pickupable Bowl_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_19) + (pickupable Pencil_bar__minus_00_dot_66_bar__plus_00_dot_75_bar__minus_03_dot_59) + (pickupable Potato_bar__minus_00_dot_30_bar__plus_01_dot_42_bar__minus_00_dot_98) + (pickupable ButterKnife_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_01_dot_19) + (pickupable Egg_bar__minus_00_dot_45_bar__plus_00_dot_83_bar__minus_01_dot_79) + (pickupable Knife_bar__minus_02_dot_67_bar__plus_00_dot_95_bar__minus_02_dot_35) + (pickupable Apple_bar__minus_01_dot_15_bar__plus_01_dot_70_bar__minus_03_dot_84) + 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Bowl_bar__minus_01_dot_60_bar__plus_01_dot_97_bar__minus_03_dot_85) + (isReceptacleObject Pan_bar__minus_01_dot_52_bar__plus_00_dot_94_bar__minus_03_dot_75) + (isReceptacleObject Cup_bar__minus_00_dot_30_bar__plus_00_dot_80_bar__minus_02_dot_01) + (isReceptacleObject Pot_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__minus_03_dot_50) + (isReceptacleObject Plate_bar__minus_02_dot_78_bar__plus_00_dot_93_bar__minus_01_dot_88) + (isReceptacleObject Bowl_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_19) + (isReceptacleObject Cup_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_02_dot_12) + (isReceptacleObject Bowl_bar__minus_00_dot_67_bar__plus_00_dot_91_bar__minus_03_dot_63) + (isReceptacleObject Plate_bar__minus_02_dot_78_bar__plus_00_dot_93_bar__minus_01_dot_65) + (isReceptacleObject Pot_bar__minus_00_dot_39_bar__plus_01_dot_39_bar__minus_00_dot_77) + (isReceptacleObject Cup_bar__minus_00_dot_25_bar__plus_01_dot_39_bar__minus_00_dot_56) + (isReceptacleObject Mug_bar__minus_00_dot_39_bar__plus_01_dot_09_bar__minus_01_dot_08) + (isReceptacleObject Pan_bar__minus_02_dot_17_bar__plus_00_dot_91_bar__minus_01_dot_10) + (openable Cabinet_bar__minus_01_dot_76_bar__plus_02_dot_14_bar__minus_03_dot_69) + (openable Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_20) + (openable Cabinet_bar__minus_00_dot_88_bar__plus_02_dot_14_bar__minus_03_dot_69) + (openable Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_40) + (openable Microwave_bar__minus_01_dot_32_bar__plus_01_dot_52_bar__minus_03_dot_85) + (openable Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77) + (openable Cabinet_bar__minus_00_dot_88_bar__plus_00_dot_39_bar__minus_03_dot_42) + (openable Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_80) + (openable Drawer_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__minus_03_dot_27) + + (atLocation agent1 loc_bar__minus_16_bar__minus_7_bar_2_bar_30) + + (cleanable DishSponge_bar__minus_00_dot_23_bar__plus_01_dot_97_bar__minus_02_dot_14) + (cleanable Bowl_bar__minus_01_dot_60_bar__plus_01_dot_97_bar__minus_03_dot_85) + (cleanable Pan_bar__minus_01_dot_52_bar__plus_00_dot_94_bar__minus_03_dot_75) + (cleanable Cup_bar__minus_00_dot_30_bar__plus_00_dot_80_bar__minus_02_dot_01) + (cleanable ButterKnife_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_01_dot_88) + (cleanable Pot_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__minus_03_dot_50) + (cleanable Plate_bar__minus_02_dot_78_bar__plus_00_dot_93_bar__minus_01_dot_88) + (cleanable Bowl_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_19) + (cleanable Potato_bar__minus_00_dot_30_bar__plus_01_dot_42_bar__minus_00_dot_98) + (cleanable ButterKnife_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_01_dot_19) + (cleanable Egg_bar__minus_00_dot_45_bar__plus_00_dot_83_bar__minus_01_dot_79) + (cleanable Knife_bar__minus_02_dot_67_bar__plus_00_dot_95_bar__minus_02_dot_35) + (cleanable Apple_bar__minus_01_dot_15_bar__plus_01_dot_70_bar__minus_03_dot_84) + (cleanable Tomato_bar__minus_00_dot_39_bar__plus_01_dot_45_bar__minus_00_dot_56) + (cleanable Cup_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_02_dot_12) + (cleanable Tomato_bar__minus_02_dot_44_bar__plus_00_dot_99_bar__minus_01_dot_42) + (cleanable Bowl_bar__minus_00_dot_67_bar__plus_00_dot_91_bar__minus_03_dot_63) + (cleanable Spoon_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_01_dot_88) + (cleanable Fork_bar__minus_00_dot_30_bar__plus_00_dot_79_bar__minus_01_dot_86) + (cleanable Spatula_bar__minus_02_dot_44_bar__plus_00_dot_94_bar__minus_01_dot_65) + (cleanable Plate_bar__minus_02_dot_78_bar__plus_00_dot_93_bar__minus_01_dot_65) + (cleanable Pot_bar__minus_00_dot_39_bar__plus_01_dot_39_bar__minus_00_dot_77) + (cleanable Lettuce_bar__minus_02_dot_56_bar__plus_01_dot_00_bar__minus_01_dot_68) + (cleanable Cup_bar__minus_00_dot_25_bar__plus_01_dot_39_bar__minus_00_dot_56) + (cleanable Mug_bar__minus_00_dot_39_bar__plus_01_dot_09_bar__minus_01_dot_08) + (cleanable Pan_bar__minus_02_dot_17_bar__plus_00_dot_91_bar__minus_01_dot_10) + (cleanable Spatula_bar__minus_02_dot_32_bar__plus_00_dot_94_bar__minus_02_dot_35) + + (heatable Cup_bar__minus_00_dot_30_bar__plus_00_dot_80_bar__minus_02_dot_01) + (heatable Bread_bar__minus_00_dot_30_bar__plus_01_dot_15_bar__minus_00_dot_87) + (heatable Plate_bar__minus_02_dot_78_bar__plus_00_dot_93_bar__minus_01_dot_88) + (heatable Bread_bar__minus_00_dot_41_bar__plus_00_dot_95_bar__minus_03_dot_63) + (heatable Potato_bar__minus_00_dot_30_bar__plus_01_dot_42_bar__minus_00_dot_98) + (heatable Egg_bar__minus_00_dot_45_bar__plus_00_dot_83_bar__minus_01_dot_79) + (heatable Apple_bar__minus_01_dot_15_bar__plus_01_dot_70_bar__minus_03_dot_84) + (heatable Tomato_bar__minus_00_dot_39_bar__plus_01_dot_45_bar__minus_00_dot_56) + (heatable Cup_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_02_dot_12) + (heatable Tomato_bar__minus_02_dot_44_bar__plus_00_dot_99_bar__minus_01_dot_42) + (heatable Plate_bar__minus_02_dot_78_bar__plus_00_dot_93_bar__minus_01_dot_65) + (heatable Cup_bar__minus_00_dot_25_bar__plus_01_dot_39_bar__minus_00_dot_56) + (heatable Mug_bar__minus_00_dot_39_bar__plus_01_dot_09_bar__minus_01_dot_08) + (coolable WineBottle_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_02_dot_12) + (coolable Bowl_bar__minus_01_dot_60_bar__plus_01_dot_97_bar__minus_03_dot_85) + (coolable Pan_bar__minus_01_dot_52_bar__plus_00_dot_94_bar__minus_03_dot_75) + (coolable Cup_bar__minus_00_dot_30_bar__plus_00_dot_80_bar__minus_02_dot_01) + (coolable Bread_bar__minus_00_dot_30_bar__plus_01_dot_15_bar__minus_00_dot_87) + (coolable Pot_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__minus_03_dot_50) + (coolable Plate_bar__minus_02_dot_78_bar__plus_00_dot_93_bar__minus_01_dot_88) + (coolable Bread_bar__minus_00_dot_41_bar__plus_00_dot_95_bar__minus_03_dot_63) + (coolable Bowl_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_19) + (coolable Potato_bar__minus_00_dot_30_bar__plus_01_dot_42_bar__minus_00_dot_98) + (coolable Egg_bar__minus_00_dot_45_bar__plus_00_dot_83_bar__minus_01_dot_79) + (coolable Apple_bar__minus_01_dot_15_bar__plus_01_dot_70_bar__minus_03_dot_84) + (coolable Tomato_bar__minus_00_dot_39_bar__plus_01_dot_45_bar__minus_00_dot_56) + (coolable Cup_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_02_dot_12) + (coolable Tomato_bar__minus_02_dot_44_bar__plus_00_dot_99_bar__minus_01_dot_42) + (coolable Bowl_bar__minus_00_dot_67_bar__plus_00_dot_91_bar__minus_03_dot_63) + (coolable WineBottle_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_02_dot_12) + (coolable Plate_bar__minus_02_dot_78_bar__plus_00_dot_93_bar__minus_01_dot_65) + (coolable Pot_bar__minus_00_dot_39_bar__plus_01_dot_39_bar__minus_00_dot_77) + (coolable Lettuce_bar__minus_02_dot_56_bar__plus_01_dot_00_bar__minus_01_dot_68) + (coolable Cup_bar__minus_00_dot_25_bar__plus_01_dot_39_bar__minus_00_dot_56) + (coolable Mug_bar__minus_00_dot_39_bar__plus_01_dot_09_bar__minus_01_dot_08) + (coolable Pan_bar__minus_02_dot_17_bar__plus_00_dot_91_bar__minus_01_dot_10) + + (isCool Tomato_bar__minus_00_dot_39_bar__plus_01_dot_45_bar__minus_00_dot_56) + + + + (sliceable Bread_bar__minus_00_dot_30_bar__plus_01_dot_15_bar__minus_00_dot_87) + (sliceable Bread_bar__minus_00_dot_41_bar__plus_00_dot_95_bar__minus_03_dot_63) + (sliceable Potato_bar__minus_00_dot_30_bar__plus_01_dot_42_bar__minus_00_dot_98) + (sliceable Egg_bar__minus_00_dot_45_bar__plus_00_dot_83_bar__minus_01_dot_79) + (sliceable Apple_bar__minus_01_dot_15_bar__plus_01_dot_70_bar__minus_03_dot_84) + (sliceable Tomato_bar__minus_00_dot_39_bar__plus_01_dot_45_bar__minus_00_dot_56) + (sliceable Tomato_bar__minus_02_dot_44_bar__plus_00_dot_99_bar__minus_01_dot_42) + (sliceable Lettuce_bar__minus_02_dot_56_bar__plus_01_dot_00_bar__minus_01_dot_68) + + (inReceptacle Pan_bar__minus_01_dot_52_bar__plus_00_dot_94_bar__minus_03_dot_75 StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_75) + (inReceptacle Pot_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__minus_03_dot_50 StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_50) + (inReceptacle PepperShaker_bar__minus_00_dot_75_bar__plus_00_dot_74_bar__minus_03_dot_56 Drawer_bar__minus_00_dot_75_bar__plus_00_dot_78_bar__minus_03_dot_55) + (inReceptacle Pencil_bar__minus_00_dot_66_bar__plus_00_dot_75_bar__minus_03_dot_59 Drawer_bar__minus_00_dot_75_bar__plus_00_dot_78_bar__minus_03_dot_55) + (inReceptacle Glassbottle_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_02_dot_56 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79) + (inReceptacle Bread_bar__minus_00_dot_41_bar__plus_00_dot_95_bar__minus_03_dot_63 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79) + (inReceptacle Bowl_bar__minus_00_dot_67_bar__plus_00_dot_91_bar__minus_03_dot_63 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79) + (inReceptacle WineBottle_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_02_dot_12 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle Pen_bar__minus_02_dot_21_bar__plus_00_dot_93_bar__minus_01_dot_42 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle ButterKnife_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_01_dot_88 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle Plate_bar__minus_02_dot_78_bar__plus_00_dot_93_bar__minus_01_dot_88 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle Bowl_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_19 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle ButterKnife_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_01_dot_19 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle Knife_bar__minus_02_dot_67_bar__plus_00_dot_95_bar__minus_02_dot_35 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle Pen_bar__minus_02_dot_32_bar__plus_00_dot_93_bar__minus_02_dot_35 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle SoapBottle_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_00_dot_96 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle Cup_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_02_dot_12 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle Tomato_bar__minus_02_dot_44_bar__plus_00_dot_99_bar__minus_01_dot_42 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle SaltShaker_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_01_dot_19 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle Spoon_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_01_dot_88 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle WineBottle_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_02_dot_12 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle Plate_bar__minus_02_dot_78_bar__plus_00_dot_93_bar__minus_01_dot_65 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle Spatula_bar__minus_02_dot_44_bar__plus_00_dot_94_bar__minus_01_dot_65 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle PepperShaker_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_02_dot_35 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle 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Bowl_bar__minus_01_dot_60_bar__plus_01_dot_97_bar__minus_03_dot_85 Cabinet_bar__minus_01_dot_76_bar__plus_02_dot_14_bar__minus_03_dot_69) + (inReceptacle Apple_bar__minus_01_dot_15_bar__plus_01_dot_70_bar__minus_03_dot_84 Microwave_bar__minus_01_dot_32_bar__plus_01_dot_52_bar__minus_03_dot_85) + (inReceptacle SoapBottle_bar__minus_01_dot_98_bar__plus_00_dot_03_bar__minus_03_dot_76 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__minus_03_dot_76) + (inReceptacle Potato_bar__minus_00_dot_30_bar__plus_01_dot_42_bar__minus_00_dot_98 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77) + (inReceptacle Pot_bar__minus_00_dot_39_bar__plus_01_dot_39_bar__minus_00_dot_77 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77) + (inReceptacle Bread_bar__minus_00_dot_30_bar__plus_01_dot_15_bar__minus_00_dot_87 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77) + (inReceptacle Cup_bar__minus_00_dot_25_bar__plus_01_dot_39_bar__minus_00_dot_56 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"z": -1.0840621 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Bowl_91c0655d", + "position": { + "x": -2.438698, + "y": 0.922512949, + "z": -1.19351614 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3760568298, + "scene_num": 23 + }, + "task_id": "trial_T20190909_000808_543184", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1RLO9LNUJIW5S_3MHW492WW34A07MXCF6R33EU5THVM6", + "high_descs": [ + "Turn around and walk to the wall then turn right and walk past the green table then turn right and take two steps then turn right to face the green table.", + "Pick up the tomato that's to the right of the spatula on the table.", + "Turn left and walk a step forward then turn left and walk to the sink.", + "Wash the tomato in the sink and then pick it back up and shut off the water.", + "Turn around and walk back to the green table. ", + "Put the tomato under the salt shaker." + ], + "task_desc": "Put a clean tomato on the table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A13OOAT2ORKH6V_3NJM2BJS4ZXKM1DADE3EUFK0PSHPC4", + "high_descs": [ + "Turn around and walk to the other side of the green table.", + "Pick up the tomato on the table.", + "Turn left and walk to the sink to your left.", + "Place the tomato inside the sink, wash the tomato and remove it.", + "Turn around to face the green table.", + "Place the washed tomato on the green table." + ], + "task_desc": "Place a clean tomato on the green table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A24RGLS3BRZ60J_3VZLGYJEYO1233QBRJX3ZQ7O09HZX6", + "high_descs": [ + "Turn around and then turn right. Move toward the fridge and turn right to face the island.", + "Pick up the tomato from the center of the counter.", + "Take the tomato and turn around to the sink.", + "Place the tomato in the sink and turn on the water. Turn off the water and pick up the tomato.", + "Carry the tomato and turn around to the island.", + "Place the tomato on the counter, in front of the sale." + ], + "task_desc": "Rinse a tomato and 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_clean_then_place_in_recep-Tomato-None-DiningTable-23/trial_T20190909_000844_354286/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Tomato-None-DiningTable-23/trial_T20190909_000844_354286/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..faf57e81727439cada8acca7e25a18ff69d1c980 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Tomato-None-DiningTable-23/trial_T20190909_000844_354286/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 tomato and put it in diningtable.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_000844_354286)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__minus_00_dot_27_bar__plus_01_dot_76_bar__minus_00_dot_56 - object\n Apple_bar__minus_01_dot_94_bar__plus_00_dot_10_bar__minus_03_dot_73 - object\n Blinds_bar__minus_02_dot_54_bar__plus_02_dot_70_bar__minus_03_dot_96 - object\n 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Mug_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_19)\n (heatable Egg_bar__minus_00_dot_35_bar__plus_00_dot_83_bar__minus_01_dot_79)\n (heatable Plate_bar__minus_02_dot_21_bar__plus_00_dot_93_bar__minus_01_dot_88)\n (heatable Egg_bar__minus_02_dot_21_bar__plus_00_dot_96_bar__minus_01_dot_65)\n (heatable Cup_bar__minus_00_dot_39_bar__plus_01_dot_69_bar__minus_00_dot_56)\n (heatable Potato_bar__minus_01_dot_15_bar__plus_01_dot_66_bar__minus_03_dot_87)\n (heatable Egg_bar__minus_02_dot_21_bar__plus_00_dot_96_bar__minus_01_dot_42)\n (heatable Apple_bar__minus_01_dot_94_bar__plus_00_dot_10_bar__minus_03_dot_73)\n (heatable Bread_bar__minus_00_dot_34_bar__plus_01_dot_15_bar__minus_00_dot_77)\n (heatable Apple_bar__minus_00_dot_27_bar__plus_01_dot_76_bar__minus_00_dot_56)\n (heatable Tomato_bar__minus_02_dot_10_bar__plus_00_dot_99_bar__minus_02_dot_35)\n (coolable Potato_bar__minus_00_dot_44_bar__plus_01_dot_13_bar__minus_01_dot_08)\n (coolable Mug_bar__minus_00_dot_50_bar__plus_00_dot_08_bar__minus_02_dot_29)\n (coolable Potato_bar__minus_00_dot_23_bar__plus_01_dot_72_bar__minus_00_dot_87)\n (coolable Lettuce_bar__minus_00_dot_39_bar__plus_01_dot_48_bar__minus_00_dot_77)\n (coolable Pot_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__minus_03_dot_50)\n (coolable Mug_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_19)\n (coolable Bowl_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_01_dot_42)\n (coolable Pot_bar__minus_01_dot_52_bar__plus_00_dot_94_bar__minus_03_dot_50)\n (coolable Egg_bar__minus_00_dot_35_bar__plus_00_dot_83_bar__minus_01_dot_79)\n (coolable Plate_bar__minus_02_dot_21_bar__plus_00_dot_93_bar__minus_01_dot_88)\n (coolable Egg_bar__minus_02_dot_21_bar__plus_00_dot_96_bar__minus_01_dot_65)\n (coolable Cup_bar__minus_00_dot_39_bar__plus_01_dot_69_bar__minus_00_dot_56)\n (coolable Potato_bar__minus_01_dot_15_bar__plus_01_dot_66_bar__minus_03_dot_87)\n (coolable Bowl_bar__minus_00_dot_60_bar__plus_00_dot_91_bar__minus_03_dot_56)\n (coolable Bowl_bar__minus_00_dot_29_bar__plus_00_dot_91_bar__minus_03_dot_57)\n (coolable Egg_bar__minus_02_dot_21_bar__plus_00_dot_96_bar__minus_01_dot_42)\n (coolable Apple_bar__minus_01_dot_94_bar__plus_00_dot_10_bar__minus_03_dot_73)\n (coolable Bread_bar__minus_00_dot_34_bar__plus_01_dot_15_bar__minus_00_dot_77)\n (coolable Apple_bar__minus_00_dot_27_bar__plus_01_dot_76_bar__minus_00_dot_56)\n (coolable WineBottle_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_01_dot_88)\n (coolable Lettuce_bar__minus_02_dot_56_bar__plus_01_dot_00_bar__minus_01_dot_68)\n (coolable Pan_bar__minus_02_dot_17_bar__plus_00_dot_91_bar__minus_01_dot_10)\n (coolable Tomato_bar__minus_02_dot_10_bar__plus_00_dot_99_bar__minus_02_dot_35)\n \n \n \n \n \n (sliceable Potato_bar__minus_00_dot_44_bar__plus_01_dot_13_bar__minus_01_dot_08)\n (sliceable Potato_bar__minus_00_dot_23_bar__plus_01_dot_72_bar__minus_00_dot_87)\n (sliceable Lettuce_bar__minus_00_dot_39_bar__plus_01_dot_48_bar__minus_00_dot_77)\n (sliceable Egg_bar__minus_00_dot_35_bar__plus_00_dot_83_bar__minus_01_dot_79)\n (sliceable Egg_bar__minus_02_dot_21_bar__plus_00_dot_96_bar__minus_01_dot_65)\n (sliceable Potato_bar__minus_01_dot_15_bar__plus_01_dot_66_bar__minus_03_dot_87)\n (sliceable Egg_bar__minus_02_dot_21_bar__plus_00_dot_96_bar__minus_01_dot_42)\n (sliceable Apple_bar__minus_01_dot_94_bar__plus_00_dot_10_bar__minus_03_dot_73)\n (sliceable Bread_bar__minus_00_dot_34_bar__plus_01_dot_15_bar__minus_00_dot_77)\n (sliceable Apple_bar__minus_00_dot_27_bar__plus_01_dot_76_bar__minus_00_dot_56)\n (sliceable Lettuce_bar__minus_02_dot_56_bar__plus_01_dot_00_bar__minus_01_dot_68)\n (sliceable Tomato_bar__minus_02_dot_10_bar__plus_00_dot_99_bar__minus_02_dot_35)\n \n (inReceptacle Pot_bar__minus_01_dot_52_bar__plus_00_dot_94_bar__minus_03_dot_50 StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_50)\n (inReceptacle Pot_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__minus_03_dot_50 StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_50)\n (inReceptacle DishSponge_bar__minus_00_dot_78_bar__plus_00_dot_75_bar__minus_03_dot_59 Drawer_bar__minus_00_dot_75_bar__plus_00_dot_78_bar__minus_03_dot_55)\n (inReceptacle Glassbottle_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_03_dot_77 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79)\n (inReceptacle Spoon_bar__minus_00_dot_29_bar__plus_00_dot_92_bar__minus_03_dot_77 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79)\n (inReceptacle Bowl_bar__minus_00_dot_60_bar__plus_00_dot_91_bar__minus_03_dot_56 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79)\n (inReceptacle Bowl_bar__minus_00_dot_29_bar__plus_00_dot_91_bar__minus_03_dot_57 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79)\n (inReceptacle Knife_bar__minus_00_dot_46_bar__plus_00_dot_94_bar__minus_03_dot_63 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79)\n (inReceptacle Pen_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__minus_01_dot_42 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Knife_bar__minus_02_dot_67_bar__plus_00_dot_95_bar__minus_01_dot_19 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Spatula_bar__minus_02_dot_67_bar__plus_00_dot_94_bar__minus_02_dot_12 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Mug_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_19 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Bowl_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_01_dot_42 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Spoon_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_01_dot_65 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Knife_bar__minus_02_dot_21_bar__plus_00_dot_95_bar__minus_01_dot_42 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Plate_bar__minus_02_dot_21_bar__plus_00_dot_93_bar__minus_01_dot_88 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Fork_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_02_dot_12 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle ButterKnife_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_01_dot_19 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Egg_bar__minus_02_dot_21_bar__plus_00_dot_96_bar__minus_01_dot_65 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Spoon_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_02_dot_35 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle DishSponge_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_01_dot_65 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Egg_bar__minus_02_dot_21_bar__plus_00_dot_96_bar__minus_01_dot_42 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Fork_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_02_dot_35 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Spatula_bar__minus_02_dot_32_bar__plus_00_dot_94_bar__minus_00_dot_96 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle WineBottle_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_01_dot_88 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle SaltShaker_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_00_dot_96 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Pencil_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_01_dot_42 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Lettuce_bar__minus_02_dot_56_bar__plus_01_dot_00_bar__minus_01_dot_68 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Pan_bar__minus_02_dot_17_bar__plus_00_dot_91_bar__minus_01_dot_10 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Tomato_bar__minus_02_dot_10_bar__plus_00_dot_99_bar__minus_02_dot_35 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Glassbottle_bar__minus_00_dot_78_bar__plus_00_dot_08_bar__minus_03_dot_66 Cabinet_bar__minus_00_dot_88_bar__plus_00_dot_39_bar__minus_03_dot_42)\n (inReceptacle Mug_bar__minus_00_dot_50_bar__plus_00_dot_08_bar__minus_02_dot_29 Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_20)\n (inReceptacle PepperShaker_bar__minus_00_dot_23_bar__plus_01_dot_97_bar__minus_02_dot_31 Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_02_dot_48)\n (inReceptacle SoapBottle_bar__minus_00_dot_45_bar__plus_01_dot_53_bar__minus_03_dot_62 Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_92_bar__minus_03_dot_39)\n (inReceptacle SaltShaker_bar__minus_01_dot_50_bar__plus_01_dot_97_bar__minus_03_dot_93 Cabinet_bar__minus_01_dot_76_bar__plus_02_dot_14_bar__minus_03_dot_69)\n (inReceptacle DishSponge_bar__minus_00_dot_42_bar__plus_00_dot_75_bar__minus_03_dot_27 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__minus_03_dot_27)\n (inReceptacle Potato_bar__minus_01_dot_15_bar__plus_01_dot_66_bar__minus_03_dot_87 Microwave_bar__minus_01_dot_32_bar__plus_01_dot_52_bar__minus_03_dot_85)\n (inReceptacle Pencil_bar__minus_01_dot_98_bar__plus_00_dot_03_bar__minus_03_dot_80 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__minus_03_dot_76)\n (inReceptacle Apple_bar__minus_01_dot_94_bar__plus_00_dot_10_bar__minus_03_dot_73 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__minus_03_dot_76)\n (inReceptacle Potato_bar__minus_00_dot_44_bar__plus_01_dot_13_bar__minus_01_dot_08 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle Apple_bar__minus_00_dot_27_bar__plus_01_dot_76_bar__minus_00_dot_56 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle Potato_bar__minus_00_dot_23_bar__plus_01_dot_72_bar__minus_00_dot_87 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle Lettuce_bar__minus_00_dot_39_bar__plus_01_dot_48_bar__minus_00_dot_77 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle Cup_bar__minus_00_dot_39_bar__plus_01_dot_69_bar__minus_00_dot_56 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle Bread_bar__minus_00_dot_34_bar__plus_01_dot_15_bar__minus_00_dot_77 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle ButterKnife_bar__minus_00_dot_35_bar__plus_00_dot_80_bar__minus_02_dot_16 Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Egg_bar__minus_00_dot_35_bar__plus_00_dot_83_bar__minus_01_dot_79 Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__minus_00_dot_30_bar__plus_01_dot_92_bar__minus_02_dot_50 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_01_dot_54 loc_bar__minus_4_bar__minus_6_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_02_dot_48 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_92_bar__minus_03_dot_39 loc_bar__minus_4_bar__minus_12_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_80 loc_bar__minus_6_bar__minus_5_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_20 loc_bar__minus_6_bar__minus_7_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_40 loc_bar__minus_6_bar__minus_11_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_88_bar__plus_00_dot_39_bar__minus_03_dot_42 loc_bar__minus_4_bar__minus_10_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_88_bar__plus_02_dot_14_bar__minus_03_dot_69 loc_bar__minus_4_bar__minus_9_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_76_bar__plus_02_dot_14_bar__minus_03_dot_69 loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_15)\n (receptacleAtLocation CoffeeMachine_bar__minus_00_dot_12_bar__plus_00_dot_90_bar__minus_03_dot_15 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (receptacleAtLocation Drawer_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__minus_03_dot_27 loc_bar__minus_5_bar__minus_12_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_75_bar__plus_00_dot_78_bar__minus_03_dot_55 loc_bar__minus_4_bar__minus_12_bar_2_bar_60)\n (receptacleAtLocation Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__minus_03_dot_76 loc_bar__minus_9_bar__minus_14_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__minus_01_dot_32_bar__plus_01_dot_52_bar__minus_03_dot_85 loc_bar__minus_5_bar__minus_12_bar_2_bar_15)\n (receptacleAtLocation Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_50 loc_bar__minus_5_bar__minus_12_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_75 loc_bar__minus_5_bar__minus_12_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_50 loc_bar__minus_6_bar__minus_12_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_75 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (receptacleAtLocation Toaster_bar__minus_00_dot_15_bar__plus_00_dot_90_bar__minus_02_dot_76 loc_bar__minus_4_bar__minus_11_bar_1_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_29_bar__plus_00_dot_91_bar__minus_03_dot_57 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_50_bar__plus_00_dot_08_bar__minus_02_dot_29 loc_bar__minus_6_bar__minus_7_bar_1_bar_60)\n (objectAtLocation Knife_bar__minus_02_dot_21_bar__plus_00_dot_95_bar__minus_01_dot_42 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Spoon_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_01_dot_65 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation DishSponge_bar__minus_00_dot_78_bar__plus_00_dot_75_bar__minus_03_dot_59 loc_bar__minus_4_bar__minus_12_bar_2_bar_60)\n (objectAtLocation ButterKnife_bar__minus_00_dot_35_bar__plus_00_dot_80_bar__minus_02_dot_16 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation Potato_bar__minus_01_dot_15_bar__plus_01_dot_66_bar__minus_03_dot_87 loc_bar__minus_5_bar__minus_12_bar_2_bar_15)\n (objectAtLocation SaltShaker_bar__minus_01_dot_50_bar__plus_01_dot_97_bar__minus_03_dot_93 loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_15)\n (objectAtLocation Pot_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__minus_03_dot_50 loc_bar__minus_5_bar__minus_12_bar_2_bar_60)\n (objectAtLocation Spatula_bar__minus_02_dot_32_bar__plus_00_dot_94_bar__minus_00_dot_96 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Pencil_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_01_dot_42 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Fork_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_02_dot_12 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Egg_bar__minus_02_dot_21_bar__plus_00_dot_96_bar__minus_01_dot_42 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Glassbottle_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_03_dot_77 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation Lettuce_bar__minus_02_dot_56_bar__plus_01_dot_00_bar__minus_01_dot_68 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Apple_bar__minus_00_dot_27_bar__plus_01_dot_76_bar__minus_00_dot_56 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Bowl_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_01_dot_42 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Egg_bar__minus_00_dot_35_bar__plus_00_dot_83_bar__minus_01_dot_79 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation Knife_bar__minus_00_dot_46_bar__plus_00_dot_94_bar__minus_03_dot_63 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_29_bar__plus_00_dot_92_bar__minus_03_dot_77 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_42_bar__plus_00_dot_75_bar__minus_03_dot_27 loc_bar__minus_5_bar__minus_12_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_23_bar__plus_01_dot_72_bar__minus_00_dot_87 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01 loc_bar__minus_4_bar__minus_8_bar_1_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_94_bar__plus_00_dot_10_bar__minus_03_dot_73 loc_bar__minus_9_bar__minus_14_bar_1_bar_60)\n (objectAtLocation Lettuce_bar__minus_00_dot_39_bar__plus_01_dot_48_bar__minus_00_dot_77 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Glassbottle_bar__minus_00_dot_78_bar__plus_00_dot_08_bar__minus_03_dot_66 loc_bar__minus_4_bar__minus_10_bar_2_bar_60)\n (objectAtLocation Egg_bar__minus_02_dot_21_bar__plus_00_dot_96_bar__minus_01_dot_65 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Pen_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__minus_01_dot_42 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Fork_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_02_dot_35 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation LightSwitch_bar__minus_04_dot_32_bar__plus_01_dot_32_bar__plus_00_dot_00 loc_bar__minus_16_bar__minus_2_bar_0_bar_30)\n (objectAtLocation SoapBottle_bar__minus_00_dot_45_bar__plus_01_dot_53_bar__minus_03_dot_62 loc_bar__minus_4_bar__minus_12_bar_1_bar__minus_15)\n (objectAtLocation Pencil_bar__minus_01_dot_98_bar__plus_00_dot_03_bar__minus_03_dot_80 loc_bar__minus_9_bar__minus_14_bar_1_bar_60)\n (objectAtLocation WineBottle_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_01_dot_88 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Spatula_bar__minus_02_dot_67_bar__plus_00_dot_94_bar__minus_02_dot_12 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Bread_bar__minus_00_dot_34_bar__plus_01_dot_15_bar__minus_00_dot_77 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Tomato_bar__minus_02_dot_10_bar__plus_00_dot_99_bar__minus_02_dot_35 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Pan_bar__minus_02_dot_17_bar__plus_00_dot_91_bar__minus_01_dot_10 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Cup_bar__minus_00_dot_39_bar__plus_01_dot_69_bar__minus_00_dot_56 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Pot_bar__minus_01_dot_52_bar__plus_00_dot_94_bar__minus_03_dot_50 loc_bar__minus_6_bar__minus_12_bar_2_bar_60)\n (objectAtLocation SaltShaker_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_00_dot_96 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Potato_bar__minus_00_dot_44_bar__plus_01_dot_13_bar__minus_01_dot_08 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__minus_00_dot_23_bar__plus_01_dot_97_bar__minus_02_dot_31 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30)\n (objectAtLocation ButterKnife_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_01_dot_19 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation StoveKnob_bar__minus_01_dot_58_bar__plus_01_dot_08_bar__minus_03_dot_96 loc_bar__minus_6_bar__minus_12_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_01_dot_18_bar__plus_01_dot_08_bar__minus_03_dot_96 loc_bar__minus_5_bar__minus_12_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_01_dot_42_bar__plus_01_dot_08_bar__minus_03_dot_96 loc_bar__minus_6_bar__minus_12_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_01_dot_03_bar__plus_01_dot_08_bar__minus_03_dot_96 loc_bar__minus_4_bar__minus_12_bar_2_bar_30)\n (objectAtLocation DishSponge_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_01_dot_65 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Window_bar__minus_02_dot_50_bar__plus_01_dot_78_bar__minus_04_dot_19 loc_bar__minus_10_bar__minus_14_bar_2_bar__minus_15)\n (objectAtLocation Chair_bar__minus_03_dot_26_bar__plus_00_dot_00_bar__minus_02_dot_09 loc_bar__minus_14_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_25 loc_bar__minus_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Spoon_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_02_dot_35 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Plate_bar__minus_02_dot_21_bar__plus_00_dot_93_bar__minus_01_dot_88 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Knife_bar__minus_02_dot_67_bar__plus_00_dot_95_bar__minus_01_dot_19 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Mug_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_19 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Blinds_bar__minus_02_dot_54_bar__plus_02_dot_70_bar__minus_03_dot_96 loc_bar__minus_10_bar__minus_14_bar_2_bar__minus_30)\n (objectAtLocation Bowl_bar__minus_00_dot_60_bar__plus_00_dot_91_bar__minus_03_dot_56 loc_bar__minus_4_bar__minus_12_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 TomatoType)\n (receptacleType ?r DiningTableType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 1", "take tomato 1 from diningtable 1", "go to sinkbasin 1", "clean tomato 1 with sinkbasin 1", "go to diningtable 1", "move tomato 1 to diningtable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Tomato-None-DiningTable-23/trial_T20190909_000844_354286/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Tomato-None-DiningTable-23/trial_T20190909_000844_354286/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..e345b025561631bba5eeae2da5d0c0ed241a3f6e --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Tomato-None-DiningTable-23/trial_T20190909_000844_354286/initial_state.pddl @@ -0,0 +1,962 @@ + +(define (problem plan_trial_T20190909_000844_354286) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_00_dot_27_bar__plus_01_dot_76_bar__minus_00_dot_56 - object + Apple_bar__minus_01_dot_94_bar__plus_00_dot_10_bar__minus_03_dot_73 - object + Blinds_bar__minus_02_dot_54_bar__plus_02_dot_70_bar__minus_03_dot_96 - object + Bowl_bar__minus_00_dot_29_bar__plus_00_dot_91_bar__minus_03_dot_57 - object + Bowl_bar__minus_00_dot_60_bar__plus_00_dot_91_bar__minus_03_dot_56 - object + Bowl_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_01_dot_42 - object + Bread_bar__minus_00_dot_34_bar__plus_01_dot_15_bar__minus_00_dot_77 - object + ButterKnife_bar__minus_00_dot_35_bar__plus_00_dot_80_bar__minus_02_dot_16 - object + ButterKnife_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_01_dot_19 - object + Chair_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_25 - object + Chair_bar__minus_03_dot_26_bar__plus_00_dot_00_bar__minus_02_dot_09 - object + Cup_bar__minus_00_dot_39_bar__plus_01_dot_69_bar__minus_00_dot_56 - object + DishSponge_bar__minus_00_dot_42_bar__plus_00_dot_75_bar__minus_03_dot_27 - object + DishSponge_bar__minus_00_dot_78_bar__plus_00_dot_75_bar__minus_03_dot_59 - object + DishSponge_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_01_dot_65 - object + Egg_bar__minus_00_dot_35_bar__plus_00_dot_83_bar__minus_01_dot_79 - object + Egg_bar__minus_02_dot_21_bar__plus_00_dot_96_bar__minus_01_dot_42 - object + Egg_bar__minus_02_dot_21_bar__plus_00_dot_96_bar__minus_01_dot_65 - object + Faucet_bar__minus_00_dot_08_bar__plus_00_dot_90_bar__minus_02_dot_03 - object + Fork_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_02_dot_12 - object + Fork_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_02_dot_35 - object + Glassbottle_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_03_dot_77 - object + Glassbottle_bar__minus_00_dot_78_bar__plus_00_dot_08_bar__minus_03_dot_66 - object + Knife_bar__minus_00_dot_46_bar__plus_00_dot_94_bar__minus_03_dot_63 - object + Knife_bar__minus_02_dot_21_bar__plus_00_dot_95_bar__minus_01_dot_42 - object + Knife_bar__minus_02_dot_67_bar__plus_00_dot_95_bar__minus_01_dot_19 - object + Lettuce_bar__minus_00_dot_39_bar__plus_01_dot_48_bar__minus_00_dot_77 - object + Lettuce_bar__minus_02_dot_56_bar__plus_01_dot_00_bar__minus_01_dot_68 - object + LightSwitch_bar__minus_04_dot_32_bar__plus_01_dot_32_bar__plus_00_dot_00 - object + Mug_bar__minus_00_dot_50_bar__plus_00_dot_08_bar__minus_02_dot_29 - object + Mug_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_19 - object + Pan_bar__minus_02_dot_17_bar__plus_00_dot_91_bar__minus_01_dot_10 - object + Pencil_bar__minus_01_dot_98_bar__plus_00_dot_03_bar__minus_03_dot_80 - object + Pencil_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_01_dot_42 - object + Pen_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__minus_01_dot_42 - object + PepperShaker_bar__minus_00_dot_23_bar__plus_01_dot_97_bar__minus_02_dot_31 - object + Plate_bar__minus_02_dot_21_bar__plus_00_dot_93_bar__minus_01_dot_88 - object + Potato_bar__minus_00_dot_23_bar__plus_01_dot_72_bar__minus_00_dot_87 - object + Potato_bar__minus_00_dot_44_bar__plus_01_dot_13_bar__minus_01_dot_08 - object + Potato_bar__minus_01_dot_15_bar__plus_01_dot_66_bar__minus_03_dot_87 - object + Pot_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__minus_03_dot_50 - object + Pot_bar__minus_01_dot_52_bar__plus_00_dot_94_bar__minus_03_dot_50 - object + SaltShaker_bar__minus_01_dot_50_bar__plus_01_dot_97_bar__minus_03_dot_93 - object + SaltShaker_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_00_dot_96 - object + Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01 - object + SoapBottle_bar__minus_00_dot_45_bar__plus_01_dot_53_bar__minus_03_dot_62 - object + Spatula_bar__minus_02_dot_32_bar__plus_00_dot_94_bar__minus_00_dot_96 - object + Spatula_bar__minus_02_dot_67_bar__plus_00_dot_94_bar__minus_02_dot_12 - object + Spoon_bar__minus_00_dot_29_bar__plus_00_dot_92_bar__minus_03_dot_77 - object + Spoon_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_01_dot_65 - object + Spoon_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_02_dot_35 - object + StoveKnob_bar__minus_01_dot_03_bar__plus_01_dot_08_bar__minus_03_dot_96 - object + StoveKnob_bar__minus_01_dot_18_bar__plus_01_dot_08_bar__minus_03_dot_96 - object + StoveKnob_bar__minus_01_dot_42_bar__plus_01_dot_08_bar__minus_03_dot_96 - object + StoveKnob_bar__minus_01_dot_58_bar__plus_01_dot_08_bar__minus_03_dot_96 - object + Tomato_bar__minus_02_dot_10_bar__plus_00_dot_99_bar__minus_02_dot_35 - object + Window_bar__minus_02_dot_50_bar__plus_01_dot_78_bar__minus_04_dot_19 - object + WineBottle_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_01_dot_88 - object + Cabinet_bar__minus_00_dot_30_bar__plus_01_dot_92_bar__minus_02_dot_50 - receptacle + Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_01_dot_54 - receptacle + Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_02_dot_48 - receptacle + Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_92_bar__minus_03_dot_39 - receptacle + Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_80 - receptacle + Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_20 - receptacle + Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_40 - receptacle + Cabinet_bar__minus_00_dot_88_bar__plus_00_dot_39_bar__minus_03_dot_42 - receptacle + Cabinet_bar__minus_00_dot_88_bar__plus_02_dot_14_bar__minus_03_dot_69 - receptacle + Cabinet_bar__minus_01_dot_76_bar__plus_02_dot_14_bar__minus_03_dot_69 - 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DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle Pan_bar__minus_02_dot_17_bar__plus_00_dot_91_bar__minus_01_dot_10 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle Tomato_bar__minus_02_dot_10_bar__plus_00_dot_99_bar__minus_02_dot_35 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle Glassbottle_bar__minus_00_dot_78_bar__plus_00_dot_08_bar__minus_03_dot_66 Cabinet_bar__minus_00_dot_88_bar__plus_00_dot_39_bar__minus_03_dot_42) + (inReceptacle Mug_bar__minus_00_dot_50_bar__plus_00_dot_08_bar__minus_02_dot_29 Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_20) + (inReceptacle PepperShaker_bar__minus_00_dot_23_bar__plus_01_dot_97_bar__minus_02_dot_31 Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_02_dot_48) + (inReceptacle SoapBottle_bar__minus_00_dot_45_bar__plus_01_dot_53_bar__minus_03_dot_62 Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_92_bar__minus_03_dot_39) + (inReceptacle SaltShaker_bar__minus_01_dot_50_bar__plus_01_dot_97_bar__minus_03_dot_93 Cabinet_bar__minus_01_dot_76_bar__plus_02_dot_14_bar__minus_03_dot_69) + (inReceptacle DishSponge_bar__minus_00_dot_42_bar__plus_00_dot_75_bar__minus_03_dot_27 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__minus_03_dot_27) + (inReceptacle Potato_bar__minus_01_dot_15_bar__plus_01_dot_66_bar__minus_03_dot_87 Microwave_bar__minus_01_dot_32_bar__plus_01_dot_52_bar__minus_03_dot_85) + (inReceptacle Pencil_bar__minus_01_dot_98_bar__plus_00_dot_03_bar__minus_03_dot_80 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__minus_03_dot_76) + (inReceptacle Apple_bar__minus_01_dot_94_bar__plus_00_dot_10_bar__minus_03_dot_73 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__minus_03_dot_76) + (inReceptacle Potato_bar__minus_00_dot_44_bar__plus_01_dot_13_bar__minus_01_dot_08 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77) + (inReceptacle Apple_bar__minus_00_dot_27_bar__plus_01_dot_76_bar__minus_00_dot_56 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77) + (inReceptacle Potato_bar__minus_00_dot_23_bar__plus_01_dot_72_bar__minus_00_dot_87 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77) + (inReceptacle Lettuce_bar__minus_00_dot_39_bar__plus_01_dot_48_bar__minus_00_dot_77 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77) + (inReceptacle Cup_bar__minus_00_dot_39_bar__plus_01_dot_69_bar__minus_00_dot_56 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77) + (inReceptacle Bread_bar__minus_00_dot_34_bar__plus_01_dot_15_bar__minus_00_dot_77 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77) + (inReceptacle ButterKnife_bar__minus_00_dot_35_bar__plus_00_dot_80_bar__minus_02_dot_16 Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Egg_bar__minus_00_dot_35_bar__plus_00_dot_83_bar__minus_01_dot_79 Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin) + + + (receptacleAtLocation Cabinet_bar__minus_00_dot_30_bar__plus_01_dot_92_bar__minus_02_dot_50 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_01_dot_54 loc_bar__minus_4_bar__minus_6_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_02_dot_48 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_92_bar__minus_03_dot_39 loc_bar__minus_4_bar__minus_12_bar_1_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_80 loc_bar__minus_6_bar__minus_5_bar_1_bar_60) + (receptacleAtLocation 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loc_bar__minus_6_bar__minus_12_bar_2_bar_30) + (objectAtLocation StoveKnob_bar__minus_01_dot_03_bar__plus_01_dot_08_bar__minus_03_dot_96 loc_bar__minus_4_bar__minus_12_bar_2_bar_30) + (objectAtLocation DishSponge_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_01_dot_65 loc_bar__minus_5_bar__minus_7_bar_3_bar_30) + (objectAtLocation Window_bar__minus_02_dot_50_bar__plus_01_dot_78_bar__minus_04_dot_19 loc_bar__minus_10_bar__minus_14_bar_2_bar__minus_15) + (objectAtLocation Chair_bar__minus_03_dot_26_bar__plus_00_dot_00_bar__minus_02_dot_09 loc_bar__minus_14_bar__minus_7_bar_2_bar_60) + (objectAtLocation Chair_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_25 loc_bar__minus_13_bar__minus_3_bar_2_bar_60) + (objectAtLocation Spoon_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_02_dot_35 loc_bar__minus_5_bar__minus_7_bar_3_bar_30) + (objectAtLocation Plate_bar__minus_02_dot_21_bar__plus_00_dot_93_bar__minus_01_dot_88 loc_bar__minus_5_bar__minus_7_bar_3_bar_30) + (objectAtLocation Knife_bar__minus_02_dot_67_bar__plus_00_dot_95_bar__minus_01_dot_19 loc_bar__minus_5_bar__minus_7_bar_3_bar_30) + (objectAtLocation Mug_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_19 loc_bar__minus_5_bar__minus_7_bar_3_bar_30) + (objectAtLocation Blinds_bar__minus_02_dot_54_bar__plus_02_dot_70_bar__minus_03_dot_96 loc_bar__minus_10_bar__minus_14_bar_2_bar__minus_30) + (objectAtLocation Bowl_bar__minus_00_dot_60_bar__plus_00_dot_91_bar__minus_03_dot_56 loc_bar__minus_4_bar__minus_12_bar_1_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (cleanable ?o) + (objectType ?o TomatoType) + (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-Tomato-None-DiningTable-23/trial_T20190909_000844_354286/traj_data.json 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"task_desc": "Put the clean tomato on the table", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1RLO9LNUJIW5S_3P4RDNWND8XFDTWCABUG8MWJTYOIJS", + "high_descs": [ + "Take two steps forward then turn left and walk to the stove then turn left and take a step then turn left.", + "Pick up the tomato that's in front of you.", + "Turn around and walk to the sink please.", + "Wash the tomato in the sink and then pick it back up and shut off the water.", + "Turn around and walk back to the green table.", + "Put the tomato to the left of the yellow handled knife." + ], + "task_desc": "Put a clean tomato on the table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3MLUEOP3CCLXL_3WLEIWSYHR8FB2NKX8639T9NRAP2HY", + "high_descs": [ + "Turn left and cross the room, take a left at the stove and then a quick right to face the island in the middle of the kitchen", + "Pick up the tomato that is sitting on the left corner of the island", + "Turn around and go to the sink", + "Put the tomato in the sink and turn on the water to rinse off the tomato, then turn off the water and pick up the clean tomato", + "Turn around and face the island in the middle of the kitchen", + "Place th tomato on the island in front of the lettuce and to the left of the knife with the yellow handle" + ], + "task_desc": "Place a clean tomato on a kitchen island.", + "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-Tomato-None-DiningTable-23/trial_T20190909_000922_271997/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Tomato-None-DiningTable-23/trial_T20190909_000922_271997/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..bf772f86f65fc120a22d7ab04dd8a2b1ea792cc1 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Tomato-None-DiningTable-23/trial_T20190909_000922_271997/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 tomato and put it in diningtable.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_000922_271997)\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_46_bar__plus_00_dot_99_bar__minus_03_dot_91 - object\n Apple_bar__minus_01_dot_20_bar__plus_01_dot_70_bar__minus_03_dot_84 - object\n Blinds_bar__minus_02_dot_54_bar__plus_02_dot_70_bar__minus_03_dot_96 - object\n Bowl_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_02_dot_12 - object\n Bread_bar__minus_00_dot_34_bar__plus_01_dot_15_bar__minus_00_dot_56 - object\n Bread_bar__minus_00_dot_39_bar__plus_01_dot_44_bar__minus_00_dot_67 - object\n ButterKnife_bar__minus_00_dot_37_bar__plus_00_dot_92_bar__minus_02_dot_56 - object\n Chair_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_25 - object\n Chair_bar__minus_03_dot_26_bar__plus_00_dot_00_bar__minus_02_dot_09 - object\n Cup_bar__minus_00_dot_23_bar__plus_01_dot_69_bar__minus_00_dot_98 - object\n DishSponge_bar__minus_00_dot_78_bar__plus_00_dot_75_bar__minus_03_dot_53 - object\n DishSponge_bar__minus_02_dot_21_bar__plus_00_dot_92_bar__minus_01_dot_88 - object\n Egg_bar__minus_00_dot_45_bar__plus_00_dot_83_bar__minus_02_dot_01 - object\n Egg_bar__minus_02_dot_32_bar__plus_00_dot_96_bar__minus_01_dot_65 - object\n Faucet_bar__minus_00_dot_08_bar__plus_00_dot_90_bar__minus_02_dot_03 - object\n Fork_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_01_dot_65 - object\n Glassbottle_bar__minus_00_dot_19_bar__plus_01_dot_53_bar__minus_03_dot_02 - object\n Glassbottle_bar__minus_00_dot_42_bar__plus_00_dot_08_bar__minus_01_dot_71 - object\n Knife_bar__minus_02_dot_32_bar__plus_00_dot_95_bar__minus_01_dot_42 - object\n Knife_bar__minus_02_dot_78_bar__plus_00_dot_95_bar__minus_01_dot_42 - object\n Lettuce_bar__minus_00_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_87 - object\n LightSwitch_bar__minus_04_dot_32_bar__plus_01_dot_32_bar__plus_00_dot_00 - object\n Mug_bar__minus_00_dot_75_bar__plus_00_dot_08_bar__minus_03_dot_66 - object\n Pan_bar__minus_02_dot_17_bar__plus_00_dot_91_bar__minus_01_dot_10 - object\n Pencil_bar__minus_00_dot_54_bar__plus_00_dot_75_bar__minus_03_dot_24 - object\n Pencil_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_01_dot_42 - object\n Pen_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__minus_01_dot_88 - object\n Pen_bar__minus_02_dot_32_bar__plus_00_dot_93_bar__minus_02_dot_12 - object\n Pen_bar__minus_02_dot_55_bar__plus_00_dot_93_bar__minus_00_dot_96 - object\n PepperShaker_bar__minus_00_dot_50_bar__plus_00_dot_08_bar__minus_03_dot_24 - object\n PepperShaker_bar__minus_02_dot_21_bar__plus_00_dot_92_bar__minus_01_dot_65 - object\n Plate_bar__minus_00_dot_38_bar__plus_00_dot_08_bar__minus_02_dot_20 - object\n Plate_bar__minus_00_dot_46_bar__plus_00_dot_92_bar__minus_03_dot_63 - object\n Potato_bar__minus_00_dot_35_bar__plus_01_dot_72_bar__minus_00_dot_77 - object\n Potato_bar__minus_00_dot_39_bar__plus_01_dot_72_bar__minus_00_dot_46 - object\n Pot_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__minus_03_dot_50 - object\n Pot_bar__minus_01_dot_52_bar__plus_00_dot_94_bar__minus_03_dot_50 - object\n SaltShaker_bar__minus_00_dot_39_bar__plus_00_dot_74_bar__minus_03_dot_33 - object\n SaltShaker_bar__minus_00_dot_60_bar__plus_00_dot_91_bar__minus_03_dot_91 - object\n SaltShaker_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_02_dot_12 - object\n Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01 - object\n SoapBottle_bar__minus_00_dot_42_bar__plus_00_dot_08_bar__minus_01_dot_90 - object\n SoapBottle_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_01_dot_88 - object\n Spatula_bar__minus_00_dot_35_bar__plus_00_dot_81_bar__minus_02_dot_01 - object\n Spatula_bar__minus_02_dot_44_bar__plus_00_dot_94_bar__minus_01_dot_88 - object\n Spatula_bar__minus_02_dot_67_bar__plus_00_dot_94_bar__minus_01_dot_42 - object\n Spoon_bar__minus_00_dot_74_bar__plus_00_dot_92_bar__minus_03_dot_56 - object\n Spoon_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_02_dot_12 - object\n Spoon_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_02_dot_12 - object\n StoveKnob_bar__minus_01_dot_03_bar__plus_01_dot_08_bar__minus_03_dot_96 - object\n StoveKnob_bar__minus_01_dot_18_bar__plus_01_dot_08_bar__minus_03_dot_96 - object\n StoveKnob_bar__minus_01_dot_42_bar__plus_01_dot_08_bar__minus_03_dot_96 - object\n StoveKnob_bar__minus_01_dot_58_bar__plus_01_dot_08_bar__minus_03_dot_96 - object\n Tomato_bar__minus_01_dot_88_bar__plus_00_dot_09_bar__minus_03_dot_76 - object\n Tomato_bar__minus_02_dot_10_bar__plus_00_dot_99_bar__minus_01_dot_42 - object\n Window_bar__minus_02_dot_50_bar__plus_01_dot_78_bar__minus_04_dot_19 - object\n WineBottle_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_02_dot_35 - object\n WineBottle_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_02_dot_35 - object\n WineBottle_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_65 - object\n Cabinet_bar__minus_00_dot_30_bar__plus_01_dot_92_bar__minus_02_dot_50 - receptacle\n Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_01_dot_54 - receptacle\n Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_02_dot_48 - receptacle\n Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_92_bar__minus_03_dot_39 - receptacle\n Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_80 - receptacle\n Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_20 - receptacle\n Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_40 - receptacle\n Cabinet_bar__minus_00_dot_88_bar__plus_00_dot_39_bar__minus_03_dot_42 - receptacle\n Cabinet_bar__minus_00_dot_88_bar__plus_02_dot_14_bar__minus_03_dot_69 - receptacle\n Cabinet_bar__minus_01_dot_76_bar__plus_02_dot_14_bar__minus_03_dot_69 - receptacle\n CoffeeMachine_bar__minus_00_dot_12_bar__plus_00_dot_90_bar__minus_03_dot_15 - receptacle\n CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79 - receptacle\n DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70 - receptacle\n Drawer_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__minus_03_dot_27 - receptacle\n Drawer_bar__minus_00_dot_75_bar__plus_00_dot_78_bar__minus_03_dot_55 - receptacle\n Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77 - receptacle\n GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__minus_03_dot_76 - receptacle\n Microwave_bar__minus_01_dot_32_bar__plus_01_dot_52_bar__minus_03_dot_85 - receptacle\n Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_50 - receptacle\n StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_75 - receptacle\n StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_50 - receptacle\n StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_75 - receptacle\n Toaster_bar__minus_00_dot_15_bar__plus_00_dot_90_bar__minus_02_dot_76 - receptacle\n loc_bar__minus_10_bar__minus_14_bar_2_bar__minus_15 - location\n loc_bar__minus_4_bar__minus_12_bar_1_bar_45 - 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_12_bar_2_bar_30 - location\n loc_bar__minus_6_bar__minus_7_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_12_bar_1_bar_45 - location\n loc_bar__minus_6_bar__minus_12_bar_2_bar_45 - location\n loc_bar__minus_5_bar__minus_3_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_7_bar_3_bar_30 - location\n loc_bar__minus_4_bar__minus_12_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_11_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_10_bar_2_bar_60 - location\n loc_bar__minus_5_bar__minus_12_bar_2_bar_15 - location\n loc_bar__minus_9_bar__minus_14_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_12_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30 - location\n loc_bar__minus_6_bar__minus_12_bar_2_bar_60 - location\n loc_bar__minus_13_bar__minus_3_bar_2_bar_60 - location\n loc_bar__minus_6_bar__minus_11_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_9_bar_2_bar__minus_15 - location\n loc_bar__minus_4_bar__minus_6_bar_1_bar__minus_30 - location\n loc_bar__minus_6_bar__minus_12_bar_2_bar_30 - location\n loc_bar__minus_4_bar__minus_9_bar_1_bar_60 - location\n loc_bar__minus_14_bar__minus_7_bar_2_bar_60 - location\n loc_bar__minus_6_bar__minus_5_bar_1_bar_60 - location\n loc_bar__minus_16_bar__minus_2_bar_0_bar_30 - location\n loc_bar__minus_10_bar__minus_14_bar_2_bar__minus_30 - location\n loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_15 - location\n loc_bar__minus_5_bar__minus_12_bar_2_bar_30 - location\n loc_bar__minus_4_bar__minus_12_bar_1_bar__minus_15 - location\n loc_bar__minus_5_bar__minus_12_bar_2_bar_45 - location\n loc_bar__minus_7_bar__minus_2_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70 DiningTableType)\n (receptacleType StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_50 StoveBurnerType)\n (receptacleType StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_75 StoveBurnerType)\n (receptacleType CoffeeMachine_bar__minus_00_dot_12_bar__plus_00_dot_90_bar__minus_03_dot_15 CoffeeMachineType)\n (receptacleType Cabinet_bar__minus_00_dot_30_bar__plus_01_dot_92_bar__minus_02_dot_50 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_76_bar__plus_02_dot_14_bar__minus_03_dot_69 CabinetType)\n (receptacleType Toaster_bar__minus_00_dot_15_bar__plus_00_dot_90_bar__minus_02_dot_76 ToasterType)\n (receptacleType Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin SinkBasinType)\n (receptacleType StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_75 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_02_dot_48 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_20 CabinetType)\n (receptacleType CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79 CounterTopType)\n (receptacleType Cabinet_bar__minus_00_dot_88_bar__plus_02_dot_14_bar__minus_03_dot_69 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_92_bar__minus_03_dot_39 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_01_dot_54 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_40 CabinetType)\n (receptacleType Microwave_bar__minus_01_dot_32_bar__plus_01_dot_52_bar__minus_03_dot_85 MicrowaveType)\n (receptacleType GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__minus_03_dot_76 GarbageCanType)\n (receptacleType Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77 FridgeType)\n (receptacleType Cabinet_bar__minus_00_dot_88_bar__plus_00_dot_39_bar__minus_03_dot_42 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_80 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_75_bar__plus_00_dot_78_bar__minus_03_dot_55 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__minus_03_dot_27 DrawerType)\n (receptacleType StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_50 StoveBurnerType)\n (objectType Apple_bar__minus_01_dot_20_bar__plus_01_dot_70_bar__minus_03_dot_84 AppleType)\n (objectType Lettuce_bar__minus_00_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_87 LettuceType)\n (objectType Pen_bar__minus_02_dot_55_bar__plus_00_dot_93_bar__minus_00_dot_96 PenType)\n (objectType WineBottle_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_02_dot_35 WineBottleType)\n (objectType Spoon_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_02_dot_12 SpoonType)\n (objectType Pencil_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_01_dot_42 PencilType)\n (objectType SaltShaker_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_02_dot_12 SaltShakerType)\n (objectType Spoon_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_02_dot_12 SpoonType)\n (objectType Spatula_bar__minus_02_dot_67_bar__plus_00_dot_94_bar__minus_01_dot_42 SpatulaType)\n (objectType Tomato_bar__minus_01_dot_88_bar__plus_00_dot_09_bar__minus_03_dot_76 TomatoType)\n (objectType Window_bar__minus_02_dot_50_bar__plus_01_dot_78_bar__minus_04_dot_19 WindowType)\n (objectType Knife_bar__minus_02_dot_78_bar__plus_00_dot_95_bar__minus_01_dot_42 KnifeType)\n (objectType Fork_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_01_dot_65 ForkType)\n (objectType Egg_bar__minus_02_dot_32_bar__plus_00_dot_96_bar__minus_01_dot_65 EggType)\n (objectType StoveKnob_bar__minus_01_dot_03_bar__plus_01_dot_08_bar__minus_03_dot_96 StoveKnobType)\n (objectType Pot_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__minus_03_dot_50 PotType)\n (objectType Apple_bar__minus_00_dot_46_bar__plus_00_dot_99_bar__minus_03_dot_91 AppleType)\n (objectType 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Apple_bar__minus_01_dot_20_bar__plus_01_dot_70_bar__minus_03_dot_84)\n (cleanable Lettuce_bar__minus_00_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_87)\n (cleanable Spoon_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_02_dot_12)\n (cleanable Spoon_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_02_dot_12)\n (cleanable Spatula_bar__minus_02_dot_67_bar__plus_00_dot_94_bar__minus_01_dot_42)\n (cleanable Tomato_bar__minus_01_dot_88_bar__plus_00_dot_09_bar__minus_03_dot_76)\n (cleanable Knife_bar__minus_02_dot_78_bar__plus_00_dot_95_bar__minus_01_dot_42)\n (cleanable Fork_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_01_dot_65)\n (cleanable Egg_bar__minus_02_dot_32_bar__plus_00_dot_96_bar__minus_01_dot_65)\n (cleanable Pot_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__minus_03_dot_50)\n (cleanable Apple_bar__minus_00_dot_46_bar__plus_00_dot_99_bar__minus_03_dot_91)\n (cleanable Spatula_bar__minus_02_dot_44_bar__plus_00_dot_94_bar__minus_01_dot_88)\n (cleanable DishSponge_bar__minus_02_dot_21_bar__plus_00_dot_92_bar__minus_01_dot_88)\n (cleanable Bowl_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_02_dot_12)\n (cleanable Knife_bar__minus_02_dot_32_bar__plus_00_dot_95_bar__minus_01_dot_42)\n (cleanable DishSponge_bar__minus_00_dot_78_bar__plus_00_dot_75_bar__minus_03_dot_53)\n (cleanable Spatula_bar__minus_00_dot_35_bar__plus_00_dot_81_bar__minus_02_dot_01)\n (cleanable Pot_bar__minus_01_dot_52_bar__plus_00_dot_94_bar__minus_03_dot_50)\n (cleanable Plate_bar__minus_00_dot_46_bar__plus_00_dot_92_bar__minus_03_dot_63)\n (cleanable Potato_bar__minus_00_dot_39_bar__plus_01_dot_72_bar__minus_00_dot_46)\n (cleanable Mug_bar__minus_00_dot_75_bar__plus_00_dot_08_bar__minus_03_dot_66)\n (cleanable ButterKnife_bar__minus_00_dot_37_bar__plus_00_dot_92_bar__minus_02_dot_56)\n (cleanable Tomato_bar__minus_02_dot_10_bar__plus_00_dot_99_bar__minus_01_dot_42)\n (cleanable Potato_bar__minus_00_dot_35_bar__plus_01_dot_72_bar__minus_00_dot_77)\n (cleanable Egg_bar__minus_00_dot_45_bar__plus_00_dot_83_bar__minus_02_dot_01)\n (cleanable Cup_bar__minus_00_dot_23_bar__plus_01_dot_69_bar__minus_00_dot_98)\n (cleanable Spoon_bar__minus_00_dot_74_bar__plus_00_dot_92_bar__minus_03_dot_56)\n (cleanable Pan_bar__minus_02_dot_17_bar__plus_00_dot_91_bar__minus_01_dot_10)\n (cleanable Plate_bar__minus_00_dot_38_bar__plus_00_dot_08_bar__minus_02_dot_20)\n \n (heatable Apple_bar__minus_01_dot_20_bar__plus_01_dot_70_bar__minus_03_dot_84)\n (heatable Tomato_bar__minus_01_dot_88_bar__plus_00_dot_09_bar__minus_03_dot_76)\n (heatable Egg_bar__minus_02_dot_32_bar__plus_00_dot_96_bar__minus_01_dot_65)\n (heatable Apple_bar__minus_00_dot_46_bar__plus_00_dot_99_bar__minus_03_dot_91)\n (heatable Bread_bar__minus_00_dot_39_bar__plus_01_dot_44_bar__minus_00_dot_67)\n (heatable Bread_bar__minus_00_dot_34_bar__plus_01_dot_15_bar__minus_00_dot_56)\n (heatable Plate_bar__minus_00_dot_46_bar__plus_00_dot_92_bar__minus_03_dot_63)\n (heatable Potato_bar__minus_00_dot_39_bar__plus_01_dot_72_bar__minus_00_dot_46)\n (heatable Mug_bar__minus_00_dot_75_bar__plus_00_dot_08_bar__minus_03_dot_66)\n (heatable Tomato_bar__minus_02_dot_10_bar__plus_00_dot_99_bar__minus_01_dot_42)\n (heatable Potato_bar__minus_00_dot_35_bar__plus_01_dot_72_bar__minus_00_dot_77)\n (heatable Egg_bar__minus_00_dot_45_bar__plus_00_dot_83_bar__minus_02_dot_01)\n (heatable Cup_bar__minus_00_dot_23_bar__plus_01_dot_69_bar__minus_00_dot_98)\n (heatable Plate_bar__minus_00_dot_38_bar__plus_00_dot_08_bar__minus_02_dot_20)\n (coolable Apple_bar__minus_01_dot_20_bar__plus_01_dot_70_bar__minus_03_dot_84)\n (coolable Lettuce_bar__minus_00_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_87)\n (coolable WineBottle_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_02_dot_35)\n (coolable Tomato_bar__minus_01_dot_88_bar__plus_00_dot_09_bar__minus_03_dot_76)\n (coolable Egg_bar__minus_02_dot_32_bar__plus_00_dot_96_bar__minus_01_dot_65)\n (coolable Pot_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__minus_03_dot_50)\n (coolable Apple_bar__minus_00_dot_46_bar__plus_00_dot_99_bar__minus_03_dot_91)\n (coolable Bread_bar__minus_00_dot_39_bar__plus_01_dot_44_bar__minus_00_dot_67)\n (coolable Bread_bar__minus_00_dot_34_bar__plus_01_dot_15_bar__minus_00_dot_56)\n (coolable Bowl_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_02_dot_12)\n (coolable WineBottle_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_65)\n (coolable Pot_bar__minus_01_dot_52_bar__plus_00_dot_94_bar__minus_03_dot_50)\n (coolable Plate_bar__minus_00_dot_46_bar__plus_00_dot_92_bar__minus_03_dot_63)\n (coolable Potato_bar__minus_00_dot_39_bar__plus_01_dot_72_bar__minus_00_dot_46)\n (coolable Mug_bar__minus_00_dot_75_bar__plus_00_dot_08_bar__minus_03_dot_66)\n (coolable Tomato_bar__minus_02_dot_10_bar__plus_00_dot_99_bar__minus_01_dot_42)\n (coolable WineBottle_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_02_dot_35)\n (coolable Potato_bar__minus_00_dot_35_bar__plus_01_dot_72_bar__minus_00_dot_77)\n (coolable Egg_bar__minus_00_dot_45_bar__plus_00_dot_83_bar__minus_02_dot_01)\n (coolable Cup_bar__minus_00_dot_23_bar__plus_01_dot_69_bar__minus_00_dot_98)\n (coolable Pan_bar__minus_02_dot_17_bar__plus_00_dot_91_bar__minus_01_dot_10)\n (coolable Plate_bar__minus_00_dot_38_bar__plus_00_dot_08_bar__minus_02_dot_20)\n \n \n \n \n \n (sliceable Apple_bar__minus_01_dot_20_bar__plus_01_dot_70_bar__minus_03_dot_84)\n (sliceable Lettuce_bar__minus_00_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_87)\n (sliceable Tomato_bar__minus_01_dot_88_bar__plus_00_dot_09_bar__minus_03_dot_76)\n (sliceable Egg_bar__minus_02_dot_32_bar__plus_00_dot_96_bar__minus_01_dot_65)\n (sliceable Apple_bar__minus_00_dot_46_bar__plus_00_dot_99_bar__minus_03_dot_91)\n (sliceable Bread_bar__minus_00_dot_39_bar__plus_01_dot_44_bar__minus_00_dot_67)\n (sliceable Bread_bar__minus_00_dot_34_bar__plus_01_dot_15_bar__minus_00_dot_56)\n (sliceable Potato_bar__minus_00_dot_39_bar__plus_01_dot_72_bar__minus_00_dot_46)\n (sliceable Tomato_bar__minus_02_dot_10_bar__plus_00_dot_99_bar__minus_01_dot_42)\n (sliceable Potato_bar__minus_00_dot_35_bar__plus_01_dot_72_bar__minus_00_dot_77)\n (sliceable Egg_bar__minus_00_dot_45_bar__plus_00_dot_83_bar__minus_02_dot_01)\n \n (inReceptacle SoapBottle_bar__minus_00_dot_42_bar__plus_00_dot_08_bar__minus_01_dot_90 Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_80)\n (inReceptacle Glassbottle_bar__minus_00_dot_42_bar__plus_00_dot_08_bar__minus_01_dot_71 Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_80)\n (inReceptacle Pot_bar__minus_01_dot_52_bar__plus_00_dot_94_bar__minus_03_dot_50 StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_50)\n (inReceptacle Pot_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__minus_03_dot_50 StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_50)\n (inReceptacle DishSponge_bar__minus_00_dot_78_bar__plus_00_dot_75_bar__minus_03_dot_53 Drawer_bar__minus_00_dot_75_bar__plus_00_dot_78_bar__minus_03_dot_55)\n (inReceptacle ButterKnife_bar__minus_00_dot_37_bar__plus_00_dot_92_bar__minus_02_dot_56 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79)\n (inReceptacle Spoon_bar__minus_00_dot_74_bar__plus_00_dot_92_bar__minus_03_dot_56 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79)\n (inReceptacle SaltShaker_bar__minus_00_dot_60_bar__plus_00_dot_91_bar__minus_03_dot_91 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79)\n (inReceptacle Plate_bar__minus_00_dot_46_bar__plus_00_dot_92_bar__minus_03_dot_63 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79)\n (inReceptacle Apple_bar__minus_00_dot_46_bar__plus_00_dot_99_bar__minus_03_dot_91 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79)\n (inReceptacle Pen_bar__minus_02_dot_55_bar__plus_00_dot_93_bar__minus_00_dot_96 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle WineBottle_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_02_dot_35 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Spoon_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_02_dot_12 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Pencil_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_01_dot_42 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle SaltShaker_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_02_dot_12 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Spoon_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_02_dot_12 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Spatula_bar__minus_02_dot_67_bar__plus_00_dot_94_bar__minus_01_dot_42 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Knife_bar__minus_02_dot_78_bar__plus_00_dot_95_bar__minus_01_dot_42 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Fork_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_01_dot_65 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Egg_bar__minus_02_dot_32_bar__plus_00_dot_96_bar__minus_01_dot_65 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Pen_bar__minus_02_dot_32_bar__plus_00_dot_93_bar__minus_02_dot_12 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Spatula_bar__minus_02_dot_44_bar__plus_00_dot_94_bar__minus_01_dot_88 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Bowl_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_02_dot_12 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle DishSponge_bar__minus_02_dot_21_bar__plus_00_dot_92_bar__minus_01_dot_88 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle WineBottle_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_65 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Knife_bar__minus_02_dot_32_bar__plus_00_dot_95_bar__minus_01_dot_42 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Tomato_bar__minus_02_dot_10_bar__plus_00_dot_99_bar__minus_01_dot_42 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle WineBottle_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_02_dot_35 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Pen_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__minus_01_dot_88 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle SoapBottle_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_01_dot_88 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle PepperShaker_bar__minus_02_dot_21_bar__plus_00_dot_92_bar__minus_01_dot_65 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Pan_bar__minus_02_dot_17_bar__plus_00_dot_91_bar__minus_01_dot_10 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Mug_bar__minus_00_dot_75_bar__plus_00_dot_08_bar__minus_03_dot_66 Cabinet_bar__minus_00_dot_88_bar__plus_00_dot_39_bar__minus_03_dot_42)\n (inReceptacle Plate_bar__minus_00_dot_38_bar__plus_00_dot_08_bar__minus_02_dot_20 Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_20)\n (inReceptacle PepperShaker_bar__minus_00_dot_50_bar__plus_00_dot_08_bar__minus_03_dot_24 Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_40)\n (inReceptacle SaltShaker_bar__minus_00_dot_39_bar__plus_00_dot_74_bar__minus_03_dot_33 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__minus_03_dot_27)\n (inReceptacle Pencil_bar__minus_00_dot_54_bar__plus_00_dot_75_bar__minus_03_dot_24 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__minus_03_dot_27)\n (inReceptacle Glassbottle_bar__minus_00_dot_19_bar__plus_01_dot_53_bar__minus_03_dot_02 Cabinet_bar__minus_00_dot_30_bar__plus_01_dot_92_bar__minus_02_dot_50)\n (inReceptacle Apple_bar__minus_01_dot_20_bar__plus_01_dot_70_bar__minus_03_dot_84 Microwave_bar__minus_01_dot_32_bar__plus_01_dot_52_bar__minus_03_dot_85)\n (inReceptacle Tomato_bar__minus_01_dot_88_bar__plus_00_dot_09_bar__minus_03_dot_76 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__minus_03_dot_76)\n (inReceptacle Bread_bar__minus_00_dot_34_bar__plus_01_dot_15_bar__minus_00_dot_56 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle Lettuce_bar__minus_00_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_87 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle Bread_bar__minus_00_dot_39_bar__plus_01_dot_44_bar__minus_00_dot_67 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle Cup_bar__minus_00_dot_23_bar__plus_01_dot_69_bar__minus_00_dot_98 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle Potato_bar__minus_00_dot_35_bar__plus_01_dot_72_bar__minus_00_dot_77 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle Potato_bar__minus_00_dot_39_bar__plus_01_dot_72_bar__minus_00_dot_46 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle Egg_bar__minus_00_dot_45_bar__plus_00_dot_83_bar__minus_02_dot_01 Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Spatula_bar__minus_00_dot_35_bar__plus_00_dot_81_bar__minus_02_dot_01 Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__minus_00_dot_30_bar__plus_01_dot_92_bar__minus_02_dot_50 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_01_dot_54 loc_bar__minus_4_bar__minus_6_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_02_dot_48 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_92_bar__minus_03_dot_39 loc_bar__minus_4_bar__minus_12_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_80 loc_bar__minus_6_bar__minus_5_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_20 loc_bar__minus_6_bar__minus_7_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_40 loc_bar__minus_6_bar__minus_11_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_88_bar__plus_00_dot_39_bar__minus_03_dot_42 loc_bar__minus_4_bar__minus_10_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_88_bar__plus_02_dot_14_bar__minus_03_dot_69 loc_bar__minus_4_bar__minus_9_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_76_bar__plus_02_dot_14_bar__minus_03_dot_69 loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_15)\n (receptacleAtLocation CoffeeMachine_bar__minus_00_dot_12_bar__plus_00_dot_90_bar__minus_03_dot_15 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (receptacleAtLocation Drawer_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__minus_03_dot_27 loc_bar__minus_5_bar__minus_12_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_75_bar__plus_00_dot_78_bar__minus_03_dot_55 loc_bar__minus_4_bar__minus_12_bar_2_bar_60)\n (receptacleAtLocation Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__minus_03_dot_76 loc_bar__minus_9_bar__minus_14_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__minus_01_dot_32_bar__plus_01_dot_52_bar__minus_03_dot_85 loc_bar__minus_5_bar__minus_12_bar_2_bar_15)\n (receptacleAtLocation Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_50 loc_bar__minus_5_bar__minus_12_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_75 loc_bar__minus_5_bar__minus_12_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_50 loc_bar__minus_6_bar__minus_12_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_75 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (receptacleAtLocation Toaster_bar__minus_00_dot_15_bar__plus_00_dot_90_bar__minus_02_dot_76 loc_bar__minus_4_bar__minus_11_bar_1_bar_45)\n (objectAtLocation Knife_bar__minus_02_dot_32_bar__plus_00_dot_95_bar__minus_01_dot_42 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Plate_bar__minus_00_dot_46_bar__plus_00_dot_92_bar__minus_03_dot_63 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation Spoon_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_02_dot_12 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation DishSponge_bar__minus_00_dot_78_bar__plus_00_dot_75_bar__minus_03_dot_53 loc_bar__minus_4_bar__minus_12_bar_2_bar_60)\n (objectAtLocation PepperShaker_bar__minus_00_dot_50_bar__plus_00_dot_08_bar__minus_03_dot_24 loc_bar__minus_6_bar__minus_11_bar_1_bar_60)\n (objectAtLocation Potato_bar__minus_00_dot_39_bar__plus_01_dot_72_bar__minus_00_dot_46 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation SaltShaker_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_02_dot_12 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Pot_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__minus_03_dot_50 loc_bar__minus_5_bar__minus_12_bar_2_bar_60)\n (objectAtLocation Tomato_bar__minus_02_dot_10_bar__plus_00_dot_99_bar__minus_01_dot_42 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Bread_bar__minus_00_dot_39_bar__plus_01_dot_44_bar__minus_00_dot_67 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Spatula_bar__minus_00_dot_35_bar__plus_00_dot_81_bar__minus_02_dot_01 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation WineBottle_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_65 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Pencil_bar__minus_00_dot_54_bar__plus_00_dot_75_bar__minus_03_dot_24 loc_bar__minus_5_bar__minus_12_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_42_bar__plus_00_dot_08_bar__minus_01_dot_90 loc_bar__minus_6_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Pen_bar__minus_02_dot_32_bar__plus_00_dot_93_bar__minus_02_dot_12 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Egg_bar__minus_02_dot_32_bar__plus_00_dot_96_bar__minus_01_dot_65 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Glassbottle_bar__minus_00_dot_19_bar__plus_01_dot_53_bar__minus_03_dot_02 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_15)\n (objectAtLocation Apple_bar__minus_01_dot_20_bar__plus_01_dot_70_bar__minus_03_dot_84 loc_bar__minus_5_bar__minus_12_bar_2_bar_15)\n (objectAtLocation SaltShaker_bar__minus_00_dot_39_bar__plus_00_dot_74_bar__minus_03_dot_33 loc_bar__minus_5_bar__minus_12_bar_1_bar_45)\n (objectAtLocation Spoon_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_02_dot_12 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Spatula_bar__minus_02_dot_44_bar__plus_00_dot_94_bar__minus_01_dot_88 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation WineBottle_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_02_dot_35 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Pen_bar__minus_02_dot_55_bar__plus_00_dot_93_bar__minus_00_dot_96 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01 loc_bar__minus_4_bar__minus_8_bar_1_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_46_bar__plus_00_dot_99_bar__minus_03_dot_91 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation Lettuce_bar__minus_00_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_87 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Glassbottle_bar__minus_00_dot_42_bar__plus_00_dot_08_bar__minus_01_dot_71 loc_bar__minus_6_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Egg_bar__minus_00_dot_45_bar__plus_00_dot_83_bar__minus_02_dot_01 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation Pen_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__minus_01_dot_88 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Fork_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_01_dot_65 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation LightSwitch_bar__minus_04_dot_32_bar__plus_01_dot_32_bar__plus_00_dot_00 loc_bar__minus_16_bar__minus_2_bar_0_bar_30)\n (objectAtLocation SoapBottle_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_01_dot_88 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Pencil_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_01_dot_42 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation WineBottle_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_02_dot_35 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Spatula_bar__minus_02_dot_67_bar__plus_00_dot_94_bar__minus_01_dot_42 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Bread_bar__minus_00_dot_34_bar__plus_01_dot_15_bar__minus_00_dot_56 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Tomato_bar__minus_01_dot_88_bar__plus_00_dot_09_bar__minus_03_dot_76 loc_bar__minus_9_bar__minus_14_bar_1_bar_60)\n (objectAtLocation Pan_bar__minus_02_dot_17_bar__plus_00_dot_91_bar__minus_01_dot_10 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Cup_bar__minus_00_dot_23_bar__plus_01_dot_69_bar__minus_00_dot_98 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Pot_bar__minus_01_dot_52_bar__plus_00_dot_94_bar__minus_03_dot_50 loc_bar__minus_6_bar__minus_12_bar_2_bar_60)\n (objectAtLocation SaltShaker_bar__minus_00_dot_60_bar__plus_00_dot_91_bar__minus_03_dot_91 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_35_bar__plus_01_dot_72_bar__minus_00_dot_77 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__minus_02_dot_21_bar__plus_00_dot_92_bar__minus_01_dot_65 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation ButterKnife_bar__minus_00_dot_37_bar__plus_00_dot_92_bar__minus_02_dot_56 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation StoveKnob_bar__minus_01_dot_58_bar__plus_01_dot_08_bar__minus_03_dot_96 loc_bar__minus_6_bar__minus_12_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_01_dot_18_bar__plus_01_dot_08_bar__minus_03_dot_96 loc_bar__minus_5_bar__minus_12_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_01_dot_42_bar__plus_01_dot_08_bar__minus_03_dot_96 loc_bar__minus_6_bar__minus_12_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_01_dot_03_bar__plus_01_dot_08_bar__minus_03_dot_96 loc_bar__minus_4_bar__minus_12_bar_2_bar_30)\n (objectAtLocation DishSponge_bar__minus_02_dot_21_bar__plus_00_dot_92_bar__minus_01_dot_88 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Window_bar__minus_02_dot_50_bar__plus_01_dot_78_bar__minus_04_dot_19 loc_bar__minus_10_bar__minus_14_bar_2_bar__minus_15)\n (objectAtLocation Chair_bar__minus_03_dot_26_bar__plus_00_dot_00_bar__minus_02_dot_09 loc_bar__minus_14_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_25 loc_bar__minus_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Spoon_bar__minus_00_dot_74_bar__plus_00_dot_92_bar__minus_03_dot_56 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation Plate_bar__minus_00_dot_38_bar__plus_00_dot_08_bar__minus_02_dot_20 loc_bar__minus_6_bar__minus_7_bar_1_bar_60)\n (objectAtLocation Knife_bar__minus_02_dot_78_bar__plus_00_dot_95_bar__minus_01_dot_42 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Mug_bar__minus_00_dot_75_bar__plus_00_dot_08_bar__minus_03_dot_66 loc_bar__minus_4_bar__minus_10_bar_2_bar_60)\n (objectAtLocation Blinds_bar__minus_02_dot_54_bar__plus_02_dot_70_bar__minus_03_dot_96 loc_bar__minus_10_bar__minus_14_bar_2_bar__minus_30)\n (objectAtLocation Bowl_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_02_dot_12 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o TomatoType)\n (receptacleType ?r DiningTableType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 1", "take tomato 1 from diningtable 1", "go to sinkbasin 1", "clean tomato 1 with sinkbasin 1", "go to diningtable 1", "move tomato 1 to diningtable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Tomato-None-DiningTable-23/trial_T20190909_000922_271997/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Tomato-None-DiningTable-23/trial_T20190909_000922_271997/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..0f507ade06d22ebaf978f71e6d59acef87a93ba1 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Tomato-None-DiningTable-23/trial_T20190909_000922_271997/initial_state.pddl @@ -0,0 +1,956 @@ + +(define (problem plan_trial_T20190909_000922_271997) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_46_bar__plus_00_dot_99_bar__minus_03_dot_91 - object + Apple_bar__minus_01_dot_20_bar__plus_01_dot_70_bar__minus_03_dot_84 - object + Blinds_bar__minus_02_dot_54_bar__plus_02_dot_70_bar__minus_03_dot_96 - object + Bowl_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_02_dot_12 - object + Bread_bar__minus_00_dot_34_bar__plus_01_dot_15_bar__minus_00_dot_56 - object + Bread_bar__minus_00_dot_39_bar__plus_01_dot_44_bar__minus_00_dot_67 - object + ButterKnife_bar__minus_00_dot_37_bar__plus_00_dot_92_bar__minus_02_dot_56 - object + Chair_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_25 - object + Chair_bar__minus_03_dot_26_bar__plus_00_dot_00_bar__minus_02_dot_09 - object + Cup_bar__minus_00_dot_23_bar__plus_01_dot_69_bar__minus_00_dot_98 - object + DishSponge_bar__minus_00_dot_78_bar__plus_00_dot_75_bar__minus_03_dot_53 - object + DishSponge_bar__minus_02_dot_21_bar__plus_00_dot_92_bar__minus_01_dot_88 - object + 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Mug_bar__minus_00_dot_75_bar__plus_00_dot_08_bar__minus_03_dot_66 Cabinet_bar__minus_00_dot_88_bar__plus_00_dot_39_bar__minus_03_dot_42) + (inReceptacle Plate_bar__minus_00_dot_38_bar__plus_00_dot_08_bar__minus_02_dot_20 Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_20) + (inReceptacle PepperShaker_bar__minus_00_dot_50_bar__plus_00_dot_08_bar__minus_03_dot_24 Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_40) + (inReceptacle SaltShaker_bar__minus_00_dot_39_bar__plus_00_dot_74_bar__minus_03_dot_33 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__minus_03_dot_27) + (inReceptacle Pencil_bar__minus_00_dot_54_bar__plus_00_dot_75_bar__minus_03_dot_24 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__minus_03_dot_27) + (inReceptacle Glassbottle_bar__minus_00_dot_19_bar__plus_01_dot_53_bar__minus_03_dot_02 Cabinet_bar__minus_00_dot_30_bar__plus_01_dot_92_bar__minus_02_dot_50) + (inReceptacle 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tomato in to the sink, turn the water on to wash off the tomato, turn the water off and remove the tomato from the sink", + "turn around and move forward back to the table with the green top", + "put the tomato on the table" + ], + "task_desc": "put a clean tomato on to the table", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A24RGLS3BRZ60J_3VZLGYJEYO1233QBRJX3ZQ7O088ZXV", + "high_descs": [ + "Turn around and face the island on the right.", + "Pick up the tomato from the front of the counter.", + "Hold the tomato and turn around to the sink.", + "Put the tomato in the sink and turn on the water. Turn off the water and pick up the tomato.", + "Hold the tomato and turn around to the island.", + "Place the tomato on the counter, in front of the salt." + ], + "task_desc": "Rinse a tomato and 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_cool_then_place_in_recep-Egg-None-Microwave-5/trial_T20190908_005703_215661/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-Microwave-5/trial_T20190908_005703_215661/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..152a61b2979f606821bd9397f35b6191e0f5b1d2 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-Microwave-5/trial_T20190908_005703_215661/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 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_T20190908_005703_215661)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__plus_02_dot_00_bar__plus_00_dot_11_bar__plus_00_dot_14 - object\n Apple_bar__minus_00_dot_03_bar__plus_00_dot_81_bar__minus_02_dot_12 - object\n Bowl_bar__plus_00_dot_07_bar__plus_01_dot_13_bar__plus_00_dot_53 - object\n Bowl_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_09 - object\n Bread_bar__minus_01_dot_08_bar__plus_00_dot_99_bar__minus_01_dot_64 - object\n ButterKnife_bar__plus_00_dot_01_bar__plus_00_dot_91_bar__plus_00_dot_14 - 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__minus_00_dot_25_bar__plus_00_dot_70_bar__plus_00_dot_18 - object\n Egg_bar__plus_00_dot_14_bar__plus_00_dot_80_bar__minus_02_dot_12 - object\n Egg_bar__minus_00_dot_38_bar__plus_01_dot_17_bar__plus_00_dot_49 - object\n Faucet_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_20 - object\n Fork_bar__minus_00_dot_60_bar__plus_01_dot_13_bar__plus_00_dot_71 - object\n Fork_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_19 - object\n Fork_bar__minus_01_dot_08_bar__plus_00_dot_91_bar__minus_01_dot_89 - object\n HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 - object\n Kettle_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 - object\n Kettle_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 - object\n Knife_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__minus_02_dot_06 - object\n Knife_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__minus_02_dot_06 - object\n Knife_bar__minus_01_dot_26_bar__plus_00_dot_93_bar__minus_02_dot_18 - object\n Ladle_bar__plus_01_dot_19_bar__plus_00_dot_95_bar__minus_01_dot_93 - object\n Ladle_bar__minus_00_dot_58_bar__plus_00_dot_73_bar__plus_00_dot_19 - object\n Lettuce_bar__plus_02_dot_00_bar__plus_01_dot_18_bar__minus_00_dot_37 - object\n Lettuce_bar__minus_00_dot_26_bar__plus_00_dot_87_bar__minus_01_dot_97 - object\n LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 - object\n Mug_bar__plus_01_dot_85_bar__plus_01_dot_01_bar__minus_01_dot_40 - object\n Mug_bar__plus_02_dot_06_bar__plus_00_dot_81_bar__minus_00_dot_46 - object\n Mug_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_57 - object\n Pan_bar__plus_01_dot_74_bar__plus_00_dot_90_bar__minus_01_dot_97 - object\n PaperTowelRoll_bar__plus_02_dot_59_bar__plus_00_dot_98_bar__plus_00_dot_20 - object\n PepperShaker_bar__plus_02_dot_90_bar__plus_00_dot_55_bar__plus_00_dot_30 - object\n PepperShaker_bar__minus_00_dot_62_bar__plus_00_dot_69_bar__minus_01_dot_94 - object\n Plate_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_00_dot_57 - object\n Plate_bar__minus_01_dot_31_bar__plus_01_dot_66_bar__plus_00_dot_16 - object\n Potato_bar__plus_01_dot_78_bar__plus_01_dot_05_bar__minus_01_dot_30 - object\n Potato_bar__plus_01_dot_89_bar__plus_00_dot_85_bar__minus_00_dot_27 - object\n Potato_bar__minus_00_dot_91_bar__plus_00_dot_94_bar__minus_01_dot_89 - object\n Pot_bar__plus_01_dot_89_bar__plus_01_dot_43_bar__minus_00_dot_64 - object\n SaltShaker_bar__minus_01_dot_14_bar__plus_00_dot_91_bar__minus_02_dot_01 - 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_97_bar__plus_00_dot_91_bar__minus_01_dot_76 - object\n SoapBottle_bar__minus_01_dot_40_bar__plus_00_dot_91_bar__minus_01_dot_47 - object\n Spatula_bar__minus_00_dot_21_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_44 - object\n Spatula_bar__minus_00_dot_93_bar__plus_00_dot_91_bar__minus_00_dot_18 - object\n Spoon_bar__plus_00_dot_06_bar__plus_00_dot_76_bar__minus_01_dot_95 - object\n Spoon_bar__minus_00_dot_56_bar__plus_00_dot_69_bar__minus_01_dot_85 - object\n Statue_bar__minus_00_dot_82_bar__plus_01_dot_14_bar__plus_00_dot_62 - object\n Statue_bar__minus_01_dot_28_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_01_dot_48_bar__minus_00_dot_37 - object\n Tomato_bar__plus_01_dot_85_bar__plus_00_dot_11_bar__plus_00_dot_14 - object\n Tomato_bar__plus_02_dot_06_bar__plus_00_dot_87_bar__minus_00_dot_83 - object\n Vase_bar__plus_02_dot_90_bar__plus_00_dot_88_bar__plus_00_dot_14 - object\n Vase_bar__plus_02_dot_98_bar__plus_00_dot_54_bar__plus_00_dot_13 - object\n Vase_bar__minus_01_dot_28_bar__plus_01_dot_66_bar__minus_01_dot_60 - 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_5_bar_2_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 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Lettuce_bar__minus_00_dot_26_bar__plus_00_dot_87_bar__minus_01_dot_97)\n (coolable Potato_bar__plus_01_dot_89_bar__plus_00_dot_85_bar__minus_00_dot_27)\n (coolable Pot_bar__plus_01_dot_89_bar__plus_01_dot_43_bar__minus_00_dot_64)\n (coolable Tomato_bar__plus_02_dot_06_bar__plus_00_dot_87_bar__minus_00_dot_83)\n (coolable Lettuce_bar__plus_02_dot_00_bar__plus_01_dot_18_bar__minus_00_dot_37)\n (coolable Plate_bar__minus_01_dot_31_bar__plus_01_dot_66_bar__plus_00_dot_16)\n (coolable Mug_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_57)\n (coolable Tomato_bar__plus_01_dot_84_bar__plus_01_dot_48_bar__minus_00_dot_37)\n \n \n \n \n \n (sliceable Egg_bar__minus_00_dot_38_bar__plus_01_dot_17_bar__plus_00_dot_49)\n (sliceable Apple_bar__plus_02_dot_00_bar__plus_00_dot_11_bar__plus_00_dot_14)\n (sliceable Potato_bar__minus_00_dot_91_bar__plus_00_dot_94_bar__minus_01_dot_89)\n (sliceable Tomato_bar__plus_01_dot_85_bar__plus_00_dot_11_bar__plus_00_dot_14)\n (sliceable Potato_bar__plus_01_dot_78_bar__plus_01_dot_05_bar__minus_01_dot_30)\n (sliceable Bread_bar__minus_01_dot_08_bar__plus_00_dot_99_bar__minus_01_dot_64)\n (sliceable Egg_bar__plus_00_dot_14_bar__plus_00_dot_80_bar__minus_02_dot_12)\n (sliceable Apple_bar__minus_00_dot_03_bar__plus_00_dot_81_bar__minus_02_dot_12)\n (sliceable Lettuce_bar__minus_00_dot_26_bar__plus_00_dot_87_bar__minus_01_dot_97)\n (sliceable Potato_bar__plus_01_dot_89_bar__plus_00_dot_85_bar__minus_00_dot_27)\n (sliceable Tomato_bar__plus_02_dot_06_bar__plus_00_dot_87_bar__minus_00_dot_83)\n (sliceable Lettuce_bar__plus_02_dot_00_bar__plus_01_dot_18_bar__minus_00_dot_37)\n (sliceable Tomato_bar__plus_01_dot_84_bar__plus_01_dot_48_bar__minus_00_dot_37)\n \n (inReceptacle PepperShaker_bar__minus_00_dot_62_bar__plus_00_dot_69_bar__minus_01_dot_94 Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69)\n (inReceptacle Spoon_bar__minus_00_dot_56_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)\n (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)\n (inReceptacle Vase_bar__minus_01_dot_28_bar__plus_01_dot_66_bar__minus_01_dot_60 Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_01_dot_98)\n (inReceptacle Plate_bar__minus_01_dot_31_bar__plus_01_dot_66_bar__plus_00_dot_16 Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__plus_00_dot_38)\n (inReceptacle Kettle_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_02)\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 Fork_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_19 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Statue_bar__minus_01_dot_28_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 ButterKnife_bar__plus_00_dot_01_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 Spatula_bar__minus_00_dot_93_bar__plus_00_dot_91_bar__minus_00_dot_18 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Spatula_bar__minus_00_dot_21_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 Ladle_bar__minus_00_dot_58_bar__plus_00_dot_73_bar__plus_00_dot_19 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01)\n (inReceptacle Egg_bar__minus_00_dot_38_bar__plus_01_dot_17_bar__plus_00_dot_49 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle Bowl_bar__plus_00_dot_07_bar__plus_01_dot_13_bar__plus_00_dot_53 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle Fork_bar__minus_00_dot_60_bar__plus_01_dot_13_bar__plus_00_dot_71 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle Plate_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_00_dot_57 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle Mug_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_57 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle Statue_bar__minus_00_dot_82_bar__plus_01_dot_14_bar__plus_00_dot_62 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_00_dot_60_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 DishSponge_bar__minus_00_dot_25_bar__plus_00_dot_70_bar__plus_00_dot_18 Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01)\n (inReceptacle 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 Bread_bar__minus_01_dot_08_bar__plus_00_dot_99_bar__minus_01_dot_64 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Pan_bar__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 Potato_bar__minus_00_dot_91_bar__plus_00_dot_94_bar__minus_01_dot_89 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Knife_bar__minus_01_dot_26_bar__plus_00_dot_93_bar__minus_02_dot_18 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle SaltShaker_bar__minus_01_dot_14_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 Ladle_bar__plus_01_dot_19_bar__plus_00_dot_95_bar__minus_01_dot_93 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Fork_bar__minus_01_dot_08_bar__plus_00_dot_91_bar__minus_01_dot_89 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle SoapBottle_bar__minus_01_dot_40_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)\n (inReceptacle Tomato_bar__plus_01_dot_85_bar__plus_00_dot_11_bar__plus_00_dot_14 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14)\n (inReceptacle Apple_bar__plus_02_dot_00_bar__plus_00_dot_11_bar__plus_00_dot_14 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14)\n (inReceptacle PaperTowelRoll_bar__plus_02_dot_59_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 Vase_bar__plus_02_dot_90_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)\n (inReceptacle Mug_bar__plus_01_dot_85_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)\n (inReceptacle Potato_bar__plus_01_dot_78_bar__plus_01_dot_05_bar__minus_01_dot_30 Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35)\n (inReceptacleObject Spoon_bar__plus_00_dot_06_bar__plus_00_dot_76_bar__minus_01_dot_95 Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94)\n (inReceptacle PepperShaker_bar__plus_02_dot_90_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 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 Bowl_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_09 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14)\n (inReceptacle Mug_bar__plus_02_dot_06_bar__plus_00_dot_81_bar__minus_00_dot_46 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Potato_bar__plus_01_dot_89_bar__plus_00_dot_85_bar__minus_00_dot_27 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Lettuce_bar__plus_02_dot_00_bar__plus_01_dot_18_bar__minus_00_dot_37 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Pot_bar__plus_01_dot_89_bar__plus_01_dot_43_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_01_dot_48_bar__minus_00_dot_37 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Tomato_bar__plus_02_dot_06_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__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 Egg_bar__plus_00_dot_14_bar__plus_00_dot_80_bar__minus_02_dot_12 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Knife_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__minus_02_dot_06 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle 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_02_dot_12 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Spoon_bar__plus_00_dot_06_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 Knife_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__minus_02_dot_06 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\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_82_bar__plus_01_dot_14_bar__plus_00_dot_62 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Mug_bar__plus_02_dot_06_bar__plus_00_dot_81_bar__minus_00_dot_46 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Tomato_bar__plus_01_dot_84_bar__plus_01_dot_48_bar__minus_00_dot_37 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Spoon_bar__minus_00_dot_56_bar__plus_00_dot_69_bar__minus_01_dot_85 loc_bar_0_bar__minus_5_bar_3_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_62_bar__plus_00_dot_69_bar__minus_01_dot_94 loc_bar_0_bar__minus_5_bar_3_bar_45)\n (objectAtLocation Lettuce_bar__minus_00_dot_26_bar__plus_00_dot_87_bar__minus_01_dot_97 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation 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_00_dot_14_bar__plus_00_dot_80_bar__minus_02_dot_12 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Spatula_bar__minus_00_dot_93_bar__plus_00_dot_91_bar__minus_00_dot_18 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Plate_bar__minus_01_dot_31_bar__plus_01_dot_66_bar__plus_00_dot_16 loc_bar__minus_2_bar__minus_1_bar_3_bar__minus_30)\n (objectAtLocation Potato_bar__plus_01_dot_89_bar__plus_00_dot_85_bar__minus_00_dot_27 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation 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 Apple_bar__plus_02_dot_00_bar__plus_00_dot_11_bar__plus_00_dot_14 loc_bar_8_bar_3_bar_2_bar_60)\n (objectAtLocation Ladle_bar__minus_00_dot_58_bar__plus_00_dot_73_bar__plus_00_dot_19 loc_bar_0_bar__minus_2_bar_0_bar_60)\n (objectAtLocation Fork_bar__minus_00_dot_60_bar__plus_01_dot_13_bar__plus_00_dot_71 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Bowl_bar__plus_00_dot_07_bar__plus_01_dot_13_bar__plus_00_dot_53 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Knife_bar__minus_01_dot_26_bar__plus_00_dot_93_bar__minus_02_dot_18 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Mug_bar__plus_01_dot_85_bar__plus_01_dot_01_bar__minus_01_dot_40 loc_bar_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Tomato_bar__plus_02_dot_06_bar__plus_00_dot_87_bar__minus_00_dot_83 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Knife_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__minus_02_dot_06 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_19 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Spatula_bar__minus_00_dot_60_bar__plus_01_dot_15_bar__plus_00_dot_44 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Potato_bar__minus_00_dot_91_bar__plus_00_dot_94_bar__minus_01_dot_89 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Chair_bar__minus_00_dot_46_bar__plus_00_dot_01_bar__plus_00_dot_75 loc_bar__minus_2_bar_5_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_08_bar__plus_00_dot_01_bar__plus_00_dot_76 loc_bar_0_bar_5_bar_2_bar_60)\n (objectAtLocation HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Pan_bar__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_38_bar__plus_00_dot_79_bar__minus_02_dot_06 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Bowl_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_09 loc_bar_10_bar_5_bar_2_bar_45)\n (objectAtLocation Fork_bar__minus_01_dot_08_bar__plus_00_dot_91_bar__minus_01_dot_89 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Ladle_bar__plus_01_dot_19_bar__plus_00_dot_95_bar__minus_01_dot_93 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_03_bar__plus_00_dot_81_bar__minus_02_dot_12 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Kettle_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 loc_bar__minus_2_bar__minus_4_bar_3_bar_45)\n (objectAtLocation Vase_bar__plus_02_dot_90_bar__plus_00_dot_88_bar__plus_00_dot_14 loc_bar_8_bar_3_bar_1_bar_45)\n (objectAtLocation Potato_bar__plus_01_dot_78_bar__plus_01_dot_05_bar__minus_01_dot_30 loc_bar_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Pot_bar__plus_01_dot_89_bar__plus_01_dot_43_bar__minus_00_dot_64 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Bread_bar__minus_01_dot_08_bar__plus_00_dot_99_bar__minus_01_dot_64 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Plate_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_00_dot_57 loc_bar_2_bar_3_bar_3_bar_30)\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_21_bar__plus_00_dot_93_bar__plus_00_dot_03 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation PaperTowelRoll_bar__plus_02_dot_59_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_01_dot_66_bar__minus_01_dot_60 loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15)\n (objectAtLocation Egg_bar__minus_00_dot_38_bar__plus_01_dot_17_bar__plus_00_dot_49 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation SoapBottle_bar__minus_01_dot_40_bar__plus_00_dot_91_bar__minus_01_dot_47 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__minus_01_dot_14_bar__plus_00_dot_91_bar__minus_02_dot_01 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__plus_02_dot_00_bar__plus_01_dot_18_bar__minus_00_dot_37 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__plus_02_dot_90_bar__plus_00_dot_55_bar__plus_00_dot_30 loc_bar_10_bar_5_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__plus_00_dot_01_bar__plus_00_dot_91_bar__plus_00_dot_14 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_83 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_68 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_97 loc_bar__minus_2_bar__minus_4_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_01_dot_12 loc_bar__minus_2_bar__minus_4_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__minus_00_dot_25_bar__plus_00_dot_70_bar__plus_00_dot_18 loc_bar_3_bar__minus_2_bar_3_bar_45)\n (objectAtLocation 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_06_bar__plus_00_dot_76_bar__minus_01_dot_95 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Tomato_bar__plus_01_dot_85_bar__plus_00_dot_11_bar__plus_00_dot_14 loc_bar_8_bar_3_bar_2_bar_60)\n (objectAtLocation Mug_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_57 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Statue_bar__minus_01_dot_28_bar__plus_00_dot_92_bar__plus_00_dot_19 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (coolable ?o)\n (objectType ?o EggType)\n (receptacleType ?r MicrowaveType)\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 microwave 1", "open microwave 1", "move egg 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-Egg-None-Microwave-5/trial_T20190908_005703_215661/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-Microwave-5/trial_T20190908_005703_215661/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..919dcf13b73611dbee47f2915d01d7a6238151d4 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-Microwave-5/trial_T20190908_005703_215661/initial_state.pddl @@ -0,0 +1,1272 @@ + +(define (problem plan_trial_T20190908_005703_215661) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__plus_02_dot_00_bar__plus_00_dot_11_bar__plus_00_dot_14 - object + Apple_bar__minus_00_dot_03_bar__plus_00_dot_81_bar__minus_02_dot_12 - object + Bowl_bar__plus_00_dot_07_bar__plus_01_dot_13_bar__plus_00_dot_53 - object + Bowl_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_09 - object + Bread_bar__minus_01_dot_08_bar__plus_00_dot_99_bar__minus_01_dot_64 - object + ButterKnife_bar__plus_00_dot_01_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__minus_00_dot_25_bar__plus_00_dot_70_bar__plus_00_dot_18 - object + Egg_bar__plus_00_dot_14_bar__plus_00_dot_80_bar__minus_02_dot_12 - object + Egg_bar__minus_00_dot_38_bar__plus_01_dot_17_bar__plus_00_dot_49 - object + Faucet_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_20 - object + Fork_bar__minus_00_dot_60_bar__plus_01_dot_13_bar__plus_00_dot_71 - object + Fork_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_19 - object + Fork_bar__minus_01_dot_08_bar__plus_00_dot_91_bar__minus_01_dot_89 - object + HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 - object + Kettle_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 - object + Kettle_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 - object + Knife_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__minus_02_dot_06 - object + Knife_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__minus_02_dot_06 - object + Knife_bar__minus_01_dot_26_bar__plus_00_dot_93_bar__minus_02_dot_18 - object + Ladle_bar__plus_01_dot_19_bar__plus_00_dot_95_bar__minus_01_dot_93 - object + 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Plate_bar__minus_01_dot_31_bar__plus_01_dot_66_bar__plus_00_dot_16 - object + Potato_bar__plus_01_dot_78_bar__plus_01_dot_05_bar__minus_01_dot_30 - object + Potato_bar__plus_01_dot_89_bar__plus_00_dot_85_bar__minus_00_dot_27 - object + Potato_bar__minus_00_dot_91_bar__plus_00_dot_94_bar__minus_01_dot_89 - object + Pot_bar__plus_01_dot_89_bar__plus_01_dot_43_bar__minus_00_dot_64 - object + SaltShaker_bar__minus_01_dot_14_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_00_dot_97_bar__plus_00_dot_91_bar__minus_01_dot_76 - object + SoapBottle_bar__minus_01_dot_40_bar__plus_00_dot_91_bar__minus_01_dot_47 - object + Spatula_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_03 - object + Spatula_bar__minus_00_dot_60_bar__plus_01_dot_15_bar__plus_00_dot_44 - object + Spatula_bar__minus_00_dot_93_bar__plus_00_dot_91_bar__minus_00_dot_18 - object + 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Ladle_bar__plus_01_dot_19_bar__plus_00_dot_95_bar__minus_01_dot_93) + (cleanable Bowl_bar__plus_00_dot_07_bar__plus_01_dot_13_bar__plus_00_dot_53) + (cleanable Potato_bar__plus_01_dot_78_bar__plus_01_dot_05_bar__minus_01_dot_30) + (cleanable Egg_bar__plus_00_dot_14_bar__plus_00_dot_80_bar__minus_02_dot_12) + (cleanable Pan_bar__plus_01_dot_74_bar__plus_00_dot_90_bar__minus_01_dot_97) + (cleanable Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94) + (cleanable Fork_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_19) + (cleanable Apple_bar__minus_00_dot_03_bar__plus_00_dot_81_bar__minus_02_dot_12) + (cleanable Spoon_bar__minus_00_dot_56_bar__plus_00_dot_69_bar__minus_01_dot_85) + (cleanable Spatula_bar__minus_00_dot_93_bar__plus_00_dot_91_bar__minus_00_dot_18) + (cleanable Knife_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__minus_02_dot_06) + (cleanable ButterKnife_bar__minus_01_dot_33_bar__plus_00_dot_91_bar__minus_00_dot_11) + (cleanable Mug_bar__plus_02_dot_06_bar__plus_00_dot_81_bar__minus_00_dot_46) + (cleanable Lettuce_bar__minus_00_dot_26_bar__plus_00_dot_87_bar__minus_01_dot_97) + (cleanable Fork_bar__minus_00_dot_60_bar__plus_01_dot_13_bar__plus_00_dot_71) + (cleanable Potato_bar__plus_01_dot_89_bar__plus_00_dot_85_bar__minus_00_dot_27) + (cleanable Pot_bar__plus_01_dot_89_bar__plus_01_dot_43_bar__minus_00_dot_64) + (cleanable DishSponge_bar__minus_00_dot_25_bar__plus_00_dot_70_bar__plus_00_dot_18) + (cleanable Tomato_bar__plus_02_dot_06_bar__plus_00_dot_87_bar__minus_00_dot_83) + (cleanable Spoon_bar__plus_00_dot_06_bar__plus_00_dot_76_bar__minus_01_dot_95) + (cleanable Knife_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__minus_02_dot_06) + (cleanable Spatula_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_03) + (cleanable Lettuce_bar__plus_02_dot_00_bar__plus_01_dot_18_bar__minus_00_dot_37) + (cleanable Plate_bar__minus_01_dot_31_bar__plus_01_dot_66_bar__plus_00_dot_16) + (cleanable Knife_bar__minus_01_dot_26_bar__plus_00_dot_93_bar__minus_02_dot_18) + (cleanable Mug_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_57) + (cleanable Fork_bar__minus_01_dot_08_bar__plus_00_dot_91_bar__minus_01_dot_89) + (cleanable Tomato_bar__plus_01_dot_84_bar__plus_01_dot_48_bar__minus_00_dot_37) + (cleanable ButterKnife_bar__plus_00_dot_01_bar__plus_00_dot_91_bar__plus_00_dot_14) + (cleanable Spatula_bar__minus_00_dot_60_bar__plus_01_dot_15_bar__plus_00_dot_44) + + (heatable Mug_bar__plus_01_dot_85_bar__plus_01_dot_01_bar__minus_01_dot_40) + (heatable Egg_bar__minus_00_dot_38_bar__plus_01_dot_17_bar__plus_00_dot_49) + (heatable Apple_bar__plus_02_dot_00_bar__plus_00_dot_11_bar__plus_00_dot_14) + (heatable Potato_bar__minus_00_dot_91_bar__plus_00_dot_94_bar__minus_01_dot_89) + (heatable Plate_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_00_dot_57) + (heatable Tomato_bar__plus_01_dot_85_bar__plus_00_dot_11_bar__plus_00_dot_14) + (heatable Potato_bar__plus_01_dot_78_bar__plus_01_dot_05_bar__minus_01_dot_30) + (heatable Bread_bar__minus_01_dot_08_bar__plus_00_dot_99_bar__minus_01_dot_64) + (heatable Egg_bar__plus_00_dot_14_bar__plus_00_dot_80_bar__minus_02_dot_12) + (heatable Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94) + (heatable Apple_bar__minus_00_dot_03_bar__plus_00_dot_81_bar__minus_02_dot_12) + (heatable Mug_bar__plus_02_dot_06_bar__plus_00_dot_81_bar__minus_00_dot_46) + (heatable Potato_bar__plus_01_dot_89_bar__plus_00_dot_85_bar__minus_00_dot_27) + (heatable Tomato_bar__plus_02_dot_06_bar__plus_00_dot_87_bar__minus_00_dot_83) + (heatable Plate_bar__minus_01_dot_31_bar__plus_01_dot_66_bar__plus_00_dot_16) + (heatable Mug_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_57) + (heatable Tomato_bar__plus_01_dot_84_bar__plus_01_dot_48_bar__minus_00_dot_37) + (coolable Mug_bar__plus_01_dot_85_bar__plus_01_dot_01_bar__minus_01_dot_40) + (coolable 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Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69) + (inReceptacle Spoon_bar__minus_00_dot_56_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 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 Vase_bar__minus_01_dot_28_bar__plus_01_dot_66_bar__minus_01_dot_60 Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_01_dot_98) + (inReceptacle Plate_bar__minus_01_dot_31_bar__plus_01_dot_66_bar__plus_00_dot_16 Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__plus_00_dot_38) + (inReceptacle Kettle_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_02) + (inReceptacle 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 Fork_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_19 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Statue_bar__minus_01_dot_28_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 ButterKnife_bar__plus_00_dot_01_bar__plus_00_dot_91_bar__plus_00_dot_14 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Spatula_bar__minus_00_dot_93_bar__plus_00_dot_91_bar__minus_00_dot_18 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Spatula_bar__minus_00_dot_21_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) + (inReceptacle Ladle_bar__minus_00_dot_58_bar__plus_00_dot_73_bar__plus_00_dot_19 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Potato_bar__minus_00_dot_91_bar__plus_00_dot_94_bar__minus_01_dot_89 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Knife_bar__minus_01_dot_26_bar__plus_00_dot_93_bar__minus_02_dot_18 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle SaltShaker_bar__minus_01_dot_14_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 Ladle_bar__plus_01_dot_19_bar__plus_00_dot_95_bar__minus_01_dot_93 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Fork_bar__minus_01_dot_08_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 SoapBottle_bar__minus_01_dot_40_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 Tomato_bar__plus_01_dot_85_bar__plus_00_dot_11_bar__plus_00_dot_14 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14) + (inReceptacle Apple_bar__plus_02_dot_00_bar__plus_00_dot_11_bar__plus_00_dot_14 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14) + (inReceptacle PaperTowelRoll_bar__plus_02_dot_59_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) + (inReceptacle Vase_bar__plus_02_dot_90_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_85_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 Potato_bar__plus_01_dot_78_bar__plus_01_dot_05_bar__minus_01_dot_30 Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35) + (inReceptacleObject Spoon_bar__plus_00_dot_06_bar__plus_00_dot_76_bar__minus_01_dot_95 Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94) + (inReceptacle PepperShaker_bar__plus_02_dot_90_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) + (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 Bowl_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_09 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14) + (inReceptacle Mug_bar__plus_02_dot_06_bar__plus_00_dot_81_bar__minus_00_dot_46 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Potato_bar__plus_01_dot_89_bar__plus_00_dot_85_bar__minus_00_dot_27 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Lettuce_bar__plus_02_dot_00_bar__plus_01_dot_18_bar__minus_00_dot_37 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Pot_bar__plus_01_dot_89_bar__plus_01_dot_43_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_01_dot_48_bar__minus_00_dot_37 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Tomato_bar__plus_02_dot_06_bar__plus_00_dot_87_bar__minus_00_dot_83 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Lettuce_bar__minus_00_dot_26_bar__plus_00_dot_87_bar__minus_01_dot_97 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Egg_bar__plus_00_dot_14_bar__plus_00_dot_80_bar__minus_02_dot_12 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Knife_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__minus_02_dot_06 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Apple_bar__minus_00_dot_03_bar__plus_00_dot_81_bar__minus_02_dot_12 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Spoon_bar__plus_00_dot_06_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) + (inReceptacle Knife_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__minus_02_dot_06 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + + + (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 Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69 loc_bar_0_bar__minus_5_bar_3_bar_45) + (receptacleAtLocation Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54 loc_bar_4_bar__minus_3_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14 loc_bar_8_bar_3_bar_2_bar_60) + (receptacleAtLocation Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35 loc_bar_4_bar__minus_5_bar_1_bar_45) + (receptacleAtLocation Shelf_bar__plus_02_dot_81_bar__plus_00_dot_16_bar__plus_00_dot_14 loc_bar_11_bar_6_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14 loc_bar_10_bar_5_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 loc_bar_8_bar_3_bar_1_bar_45) + (receptacleAtLocation Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin loc_bar_0_bar__minus_5_bar_2_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_00_dot_67 loc_bar__minus_2_bar__minus_3_bar_3_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13 loc_bar__minus_2_bar__minus_5_bar_3_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_00_dot_76 loc_bar__minus_2_bar__minus_3_bar_3_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_02 loc_bar__minus_2_bar__minus_4_bar_3_bar_45) + (receptacleAtLocation Toaster_bar__plus_00_dot_84_bar__plus_00_dot_90_bar__minus_02_dot_06 loc_bar_3_bar__minus_5_bar_2_bar_45) + (objectAtLocation Statue_bar__minus_00_dot_82_bar__plus_01_dot_14_bar__plus_00_dot_62 loc_bar_2_bar_3_bar_3_bar_30) + (objectAtLocation Mug_bar__plus_02_dot_06_bar__plus_00_dot_81_bar__minus_00_dot_46 loc_bar_4_bar__minus_3_bar_1_bar_60) + (objectAtLocation Tomato_bar__plus_01_dot_84_bar__plus_01_dot_48_bar__minus_00_dot_37 loc_bar_4_bar__minus_3_bar_1_bar_60) + (objectAtLocation Spoon_bar__minus_00_dot_56_bar__plus_00_dot_69_bar__minus_01_dot_85 loc_bar_0_bar__minus_5_bar_3_bar_45) + (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) + (objectAtLocation PepperShaker_bar__minus_00_dot_62_bar__plus_00_dot_69_bar__minus_01_dot_94 loc_bar_0_bar__minus_5_bar_3_bar_45) + (objectAtLocation Lettuce_bar__minus_00_dot_26_bar__plus_00_dot_87_bar__minus_01_dot_97 loc_bar_0_bar__minus_5_bar_2_bar_45) + (objectAtLocation 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) + (objectAtLocation Egg_bar__plus_00_dot_14_bar__plus_00_dot_80_bar__minus_02_dot_12 loc_bar_0_bar__minus_5_bar_2_bar_45) + (objectAtLocation Spatula_bar__minus_00_dot_93_bar__plus_00_dot_91_bar__minus_00_dot_18 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (objectAtLocation Plate_bar__minus_01_dot_31_bar__plus_01_dot_66_bar__plus_00_dot_16 loc_bar__minus_2_bar__minus_1_bar_3_bar__minus_30) + (objectAtLocation Potato_bar__plus_01_dot_89_bar__plus_00_dot_85_bar__minus_00_dot_27 loc_bar_4_bar__minus_3_bar_1_bar_60) + (objectAtLocation 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) + (objectAtLocation Apple_bar__plus_02_dot_00_bar__plus_00_dot_11_bar__plus_00_dot_14 loc_bar_8_bar_3_bar_2_bar_60) + (objectAtLocation 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Spatula_bar__minus_00_dot_60_bar__plus_01_dot_15_bar__plus_00_dot_44 loc_bar_2_bar_3_bar_3_bar_30) + (objectAtLocation Potato_bar__minus_00_dot_91_bar__plus_00_dot_94_bar__minus_01_dot_89 loc_bar_4_bar__minus_5_bar_2_bar_45) + (objectAtLocation Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 loc_bar_0_bar__minus_5_bar_2_bar_45) + (objectAtLocation Chair_bar__minus_00_dot_46_bar__plus_00_dot_01_bar__plus_00_dot_75 loc_bar__minus_2_bar_5_bar_2_bar_60) + (objectAtLocation Chair_bar__minus_00_dot_08_bar__plus_00_dot_01_bar__plus_00_dot_76 loc_bar_0_bar_5_bar_2_bar_60) + (objectAtLocation HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 loc_bar_2_bar_3_bar_3_bar_30) + (objectAtLocation Pan_bar__plus_01_dot_74_bar__plus_00_dot_90_bar__minus_01_dot_97 loc_bar_4_bar__minus_5_bar_2_bar_45) + (objectAtLocation Knife_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__minus_02_dot_06 loc_bar_0_bar__minus_5_bar_2_bar_45) + (objectAtLocation Bowl_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_09 loc_bar_10_bar_5_bar_2_bar_45) + (objectAtLocation Fork_bar__minus_01_dot_08_bar__plus_00_dot_91_bar__minus_01_dot_89 loc_bar_4_bar__minus_5_bar_2_bar_45) + (objectAtLocation Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 loc_bar_0_bar__minus_5_bar_2_bar_45) + (objectAtLocation Ladle_bar__plus_01_dot_19_bar__plus_00_dot_95_bar__minus_01_dot_93 loc_bar_4_bar__minus_5_bar_2_bar_45) + (objectAtLocation Apple_bar__minus_00_dot_03_bar__plus_00_dot_81_bar__minus_02_dot_12 loc_bar_0_bar__minus_5_bar_2_bar_45) + (objectAtLocation Kettle_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 loc_bar__minus_2_bar__minus_4_bar_3_bar_45) + (objectAtLocation Vase_bar__plus_02_dot_90_bar__plus_00_dot_88_bar__plus_00_dot_14 loc_bar_8_bar_3_bar_1_bar_45) + (objectAtLocation Potato_bar__plus_01_dot_78_bar__plus_01_dot_05_bar__minus_01_dot_30 loc_bar_4_bar__minus_5_bar_1_bar_45) + (objectAtLocation 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}, + { + "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": -0.555379868, + "y": 0.6931676, + "z": -1.84681869 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_74fc855a", + "position": { + "x": 1.83629417, + "y": 1.47734952, + "z": -0.365083069 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Mug_8066794b", + "position": { + "x": 2.05531049, + "y": 0.8123247, + "z": -0.45818612 + }, + "rotation": { + "x": 0.0, + "y": 0.000169038554, + "z": 0.0 + } + }, + { + "objectName": "Statue_bb70ba4e", + "position": { + "x": -0.822229, + "y": 1.13856411, + "z": 0.618002 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2461616312, + "scene_num": 5 + }, + "task_id": "trial_T20190908_005703_215661", + "task_type": "pick_cool_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1GVTH5YS3WOK0_3FDJT1UU77PQR0LHP4MHJ68P9EBK55", + "high_descs": [ + "Turn around and head towards the sink.", + "Pick up the egg from the sink.", + "Turn around and head towards the fridge on your right.", + "Place the egg in the fridge, let it cool and take it back out.", + "Take a step to the right to find the microwave.", + "Place the egg inside the microwave." + ], + "task_desc": "Place a cooled egg inside the microwave.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2ALWT2BUSXD83_3Q5C1WP23PIOLZZVHUGZERCQ08415C", + "high_descs": [ + "Turn around and walk to the sink.", + "Take the egg out of the sink.", + "Walk to the refrigerator.", + "Open the refrigerator and place the egg inside.", + "Take the egg out of the refrigerator and walk to the microwave", + "Place the egg inside the microwave." + ], + "task_desc": "Place a chilled egg inside the microwave.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1MKCTVKE7J0ZP_3QY7M81QHA35E4Z0DX1EHQML0KR7KS", + "high_descs": [ + "Turn around and go to the sink, to the right of the dishwasher.", + "Pick up the egg in the sink, to the left of the tomato.", + "Turn around, go forward, then turn right to go to the fridge.", + "Chill the egg in the fridge.", + "Go to the microwave, to the right of the fridge.", + "Put the egg in the microwave, to the left of the potato." + ], + "task_desc": "Put a cold egg 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-Egg-None-Microwave-5/trial_T20190908_005812_214691/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-Microwave-5/trial_T20190908_005812_214691/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..c56a918ec17b2338859edc029526d42821e6921d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-Microwave-5/trial_T20190908_005812_214691/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 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_T20190908_005812_214691)\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_01_dot_48_bar__minus_00_dot_83 - object\n Apple_bar__plus_01_dot_95_bar__plus_01_dot_15_bar__minus_00_dot_27 - object\n Apple_bar__minus_00_dot_12_bar__plus_00_dot_81_bar__minus_02_dot_01 - object\n Bowl_bar__plus_00_dot_45_bar__plus_01_dot_66_bar__minus_02_dot_16 - object\n Bread_bar__minus_01_dot_15_bar__plus_00_dot_99_bar__minus_00_dot_21 - object\n ButterKnife_bar__minus_00_dot_90_bar__plus_00_dot_91_bar__minus_02_dot_01 - object\n Chair_bar__minus_00_dot_08_bar__plus_00_dot_01_bar__plus_00_dot_76 - object\n Chair_bar__minus_00_dot_46_bar__plus_00_dot_01_bar__plus_00_dot_75 - object\n Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 - object\n DishSponge_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_19 - object\n DishSponge_bar__minus_00_dot_29_bar__plus_00_dot_76_bar__minus_02_dot_12 - object\n Egg_bar__plus_01_dot_75_bar__plus_01_dot_05_bar__minus_01_dot_35 - object\n Egg_bar__plus_01_dot_81_bar__plus_00_dot_10_bar__plus_00_dot_08 - object\n Egg_bar__plus_01_dot_85_bar__plus_01_dot_05_bar__minus_01_dot_19 - object\n Egg_bar__minus_00_dot_38_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_29 - object\n Fork_bar__minus_00_dot_19_bar__plus_00_dot_70_bar__plus_00_dot_14 - object\n Fork_bar__minus_00_dot_20_bar__plus_00_dot_76_bar__minus_01_dot_95 - 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_42_bar__plus_00_dot_94_bar__plus_00_dot_19 - object\n Knife_bar__minus_01_dot_24_bar__plus_00_dot_91_bar__minus_00_dot_26 - object\n Ladle_bar__plus_00_dot_07_bar__plus_01_dot_17_bar__plus_00_dot_71 - object\n Ladle_bar__minus_00_dot_15_bar__plus_01_dot_17_bar__plus_00_dot_57 - object\n Lettuce_bar__plus_01_dot_89_bar__plus_00_dot_89_bar__minus_00_dot_74 - object\n LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 - object\n 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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 Tomato_bar__minus_00_dot_99_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)\n (inReceptacle Potato_bar__plus_01_dot_88_bar__plus_00_dot_09_bar__plus_00_dot_17 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14)\n (inReceptacle Egg_bar__plus_01_dot_81_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 PaperTowelRoll_bar__plus_03_dot_00_bar__plus_00_dot_98_bar__plus_00_dot_11 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_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 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Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Lettuce_bar__plus_01_dot_89_bar__plus_00_dot_89_bar__minus_00_dot_74 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_01_dot_48_bar__minus_00_dot_83 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Potato_bar__plus_01_dot_89_bar__plus_01_dot_13_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_01_dot_15_bar__minus_00_dot_27 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Tomato_bar__plus_01_dot_95_bar__plus_01_dot_48_bar__minus_00_dot_37 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Egg_bar__minus_00_dot_38_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 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Fork_bar__plus_00_dot_01_bar__plus_00_dot_91_bar__plus_00_dot_29 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_00_dot_76 loc_bar__minus_2_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Potato_bar__plus_01_dot_89_bar__plus_01_dot_13_bar__minus_00_dot_46 loc_bar_4_bar__minus_3_bar_1_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_00_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_19 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Knife_bar__minus_01_dot_24_bar__plus_00_dot_91_bar__minus_00_dot_26 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Bowl_bar__plus_00_dot_45_bar__plus_01_dot_66_bar__minus_02_dot_16 loc_bar_2_bar__minus_5_bar_2_bar__minus_30)\n (objectAtLocation Fork_bar__minus_00_dot_20_bar__plus_00_dot_76_bar__minus_01_dot_95 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Ladle_bar__minus_00_dot_15_bar__plus_01_dot_17_bar__plus_00_dot_57 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Apple_bar__plus_01_dot_84_bar__plus_01_dot_48_bar__minus_00_dot_83 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Kettle_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 loc_bar__minus_2_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Vase_bar__minus_01_dot_32_bar__plus_00_dot_91_bar__minus_01_dot_81 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Potato_bar__minus_01_dot_28_bar__plus_00_dot_94_bar__plus_00_dot_24 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Pot_bar__plus_01_dot_89_bar__plus_00_dot_82_bar__minus_00_dot_37 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Bread_bar__minus_01_dot_15_bar__plus_00_dot_99_bar__minus_00_dot_21 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Plate_bar__plus_01_dot_19_bar__plus_00_dot_91_bar__minus_01_dot_84 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 loc_bar_2_bar_6_bar_0_bar_30)\n (objectAtLocation Spatula_bar__minus_01_dot_05_bar__plus_01_dot_15_bar__plus_00_dot_53 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation PaperTowelRoll_bar__plus_03_dot_00_bar__plus_00_dot_98_bar__plus_00_dot_11 loc_bar_8_bar_3_bar_1_bar_45)\n (objectAtLocation Vase_bar__plus_02_dot_70_bar__plus_00_dot_87_bar__plus_00_dot_18 loc_bar_8_bar_3_bar_1_bar_45)\n (objectAtLocation Egg_bar__plus_01_dot_85_bar__plus_01_dot_05_bar__minus_01_dot_19 loc_bar_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_32_bar__plus_00_dot_91_bar__minus_01_dot_38 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__plus_01_dot_59_bar__plus_01_dot_65_bar__minus_02_dot_24 loc_bar_4_bar__minus_5_bar_2_bar__minus_30)\n (objectAtLocation Lettuce_bar__plus_01_dot_89_bar__plus_00_dot_89_bar__minus_00_dot_74 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__plus_00_dot_83_bar__plus_01_dot_65_bar__minus_02_dot_13 loc_bar_4_bar__minus_5_bar_2_bar__minus_30)\n (objectAtLocation ButterKnife_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 StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_83 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_68 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_97 loc_bar__minus_2_bar__minus_4_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_01_dot_12 loc_bar__minus_2_bar__minus_4_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_19 loc_bar_10_bar_5_bar_2_bar_45)\n (objectAtLocation Vase_bar__plus_02_dot_98_bar__plus_00_dot_54_bar__plus_00_dot_13 loc_bar_10_bar_5_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_65_bar__plus_00_dot_70_bar__plus_00_dot_19 loc_bar_0_bar__minus_2_bar_0_bar_60)\n (objectAtLocation Tomato_bar__plus_00_dot_06_bar__plus_00_dot_81_bar__minus_02_dot_12 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Mug_bar__plus_02_dot_69_bar__plus_00_dot_55_bar__plus_00_dot_30 loc_bar_10_bar_5_bar_2_bar_45)\n (objectAtLocation Statue_bar__plus_00_dot_07_bar__plus_01_dot_14_bar__plus_00_dot_44 loc_bar_2_bar_3_bar_3_bar_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (coolable ?o)\n (objectType ?o EggType)\n (receptacleType ?r MicrowaveType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sinkbasin 1", "take egg 4 from sinkbasin 1", "go to fridge 1", "cool egg 4 with fridge 1", "go to microwave 1", "open microwave 1", "move egg 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-Egg-None-Microwave-5/trial_T20190908_005812_214691/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-Microwave-5/trial_T20190908_005812_214691/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..8c25008c0916ac1e368a6914986944e508b58191 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-Microwave-5/trial_T20190908_005812_214691/initial_state.pddl @@ -0,0 +1,1277 @@ + +(define (problem plan_trial_T20190908_005812_214691) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_01_dot_48_bar__minus_00_dot_83 - object + Apple_bar__plus_01_dot_95_bar__plus_01_dot_15_bar__minus_00_dot_27 - object + Apple_bar__minus_00_dot_12_bar__plus_00_dot_81_bar__minus_02_dot_01 - object + Bowl_bar__plus_00_dot_45_bar__plus_01_dot_66_bar__minus_02_dot_16 - object + Bread_bar__minus_01_dot_15_bar__plus_00_dot_99_bar__minus_00_dot_21 - object + ButterKnife_bar__minus_00_dot_90_bar__plus_00_dot_91_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__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_19 - object + DishSponge_bar__minus_00_dot_29_bar__plus_00_dot_76_bar__minus_02_dot_12 - object + Egg_bar__plus_01_dot_75_bar__plus_01_dot_05_bar__minus_01_dot_35 - object + Egg_bar__plus_01_dot_81_bar__plus_00_dot_10_bar__plus_00_dot_08 - object + Egg_bar__plus_01_dot_85_bar__plus_01_dot_05_bar__minus_01_dot_19 - object + Egg_bar__minus_00_dot_38_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 + Fork_bar__plus_00_dot_01_bar__plus_00_dot_91_bar__plus_00_dot_29 - object + Fork_bar__minus_00_dot_19_bar__plus_00_dot_70_bar__plus_00_dot_14 - object + Fork_bar__minus_00_dot_20_bar__plus_00_dot_76_bar__minus_01_dot_95 - 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_42_bar__plus_00_dot_94_bar__plus_00_dot_19 - object + Knife_bar__minus_01_dot_24_bar__plus_00_dot_91_bar__minus_00_dot_26 - object + Ladle_bar__plus_00_dot_07_bar__plus_01_dot_17_bar__plus_00_dot_71 - object + Ladle_bar__minus_00_dot_15_bar__plus_01_dot_17_bar__plus_00_dot_57 - object + Lettuce_bar__plus_01_dot_89_bar__plus_00_dot_89_bar__minus_00_dot_74 - object + LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 - object + Mug_bar__plus_00_dot_50_bar__plus_00_dot_96_bar__minus_01_dot_90 - object + Mug_bar__plus_02_dot_69_bar__plus_00_dot_55_bar__plus_00_dot_30 - object + Mug_bar__minus_01_dot_12_bar__plus_00_dot_12_bar__minus_01_dot_57 - object + Pan_bar__plus_01_dot_74_bar__plus_00_dot_90_bar__minus_01_dot_97 - object + Pan_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_19 - object + PaperTowelRoll_bar__plus_03_dot_00_bar__plus_00_dot_98_bar__plus_00_dot_11 - object + PepperShaker_bar__plus_00_dot_83_bar__plus_01_dot_65_bar__minus_02_dot_13 - object + PepperShaker_bar__plus_03_dot_11_bar__plus_00_dot_88_bar__plus_00_dot_17 - object + PepperShaker_bar__minus_00_dot_82_bar__plus_01_dot_13_bar__plus_00_dot_53 - object + Plate_bar__plus_01_dot_19_bar__plus_00_dot_91_bar__minus_01_dot_84 - object + Potato_bar__plus_01_dot_88_bar__plus_00_dot_09_bar__plus_00_dot_17 - object + Potato_bar__plus_01_dot_89_bar__plus_01_dot_13_bar__minus_00_dot_46 - object + Potato_bar__minus_01_dot_28_bar__plus_00_dot_94_bar__plus_00_dot_24 - object + Pot_bar__plus_01_dot_89_bar__plus_00_dot_82_bar__minus_00_dot_37 - 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_59_bar__plus_01_dot_65_bar__minus_02_dot_24 - object + Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 - object + SoapBottle_bar__minus_01_dot_32_bar__plus_00_dot_91_bar__minus_01_dot_38 - object + Spatula_bar__minus_01_dot_05_bar__plus_01_dot_15_bar__plus_00_dot_53 - object + Spoon_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_62 - object + Spoon_bar__minus_00_dot_65_bar__plus_00_dot_70_bar__plus_00_dot_19 - object + Spoon_bar__minus_01_dot_33_bar__plus_00_dot_91_bar__minus_00_dot_17 - object + Statue_bar__plus_00_dot_07_bar__plus_01_dot_14_bar__plus_00_dot_44 - object + StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_68 - object + StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_83 - object + StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_97 - object + StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_01_dot_12 - object + Tomato_bar__plus_00_dot_06_bar__plus_00_dot_81_bar__minus_02_dot_12 - object + Tomato_bar__plus_01_dot_95_bar__plus_01_dot_48_bar__minus_00_dot_37 - object + Tomato_bar__minus_00_dot_99_bar__plus_00_dot_96_bar__minus_01_dot_47 - object + Vase_bar__plus_02_dot_70_bar__plus_00_dot_87_bar__plus_00_dot_18 - object + Vase_bar__plus_02_dot_98_bar__plus_00_dot_54_bar__plus_00_dot_13 - object + Vase_bar__minus_01_dot_32_bar__plus_00_dot_91_bar__minus_01_dot_81 - 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 + 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Close the door, wait a moment, and then take the egg out again.", + "Take a step right and face the microwave.", + "Place the egg back in the microwave in front of and to the right of the other egg." + ], + "task_desc": "Place a chilled egg in the microwave.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AM2KK02JXXW48_3FIJLY1B6XLJ4OBM884Y1ZL1SIKPFJ", + "high_descs": [ + "Move forward, face the microwave on the left.", + "Take the egg on the right out of the microwave. ", + "Turn left, bring the egg to the fridge, turn right to face the fridge.", + "Chill the egg in the fridge. ", + "Bring the chilled egg back to the microwave on the right. ", + "Put the egg in the microwave." + ], + "task_desc": "Put a chilled egg in the microwave. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2ALWT2BUSXD83_3P529IW9K12TD3WOGGBRKICHN8YLFW", + "high_descs": [ + "Walk to the microwave.", + "Remove an egg from the microwave.", + "Turn to your left and approach the fridge.", + "Open the fridge and place the egg inside, wait a little while, and remove the egg.", + "Turn to your right and approach the microwave.", + "Place the egg in the microwave." + ], + "task_desc": "Place a cooled egg 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-Egg-None-Microwave-5/trial_T20190908_005859_323253/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-Microwave-5/trial_T20190908_005859_323253/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..e994e19a63ae281b36aea3874efc9b2d435c60c1 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-Microwave-5/trial_T20190908_005859_323253/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 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_T20190908_005859_323253)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__plus_01_dot_85_bar__plus_00_dot_11_bar__plus_00_dot_20 - object\n Apple_bar__plus_01_dot_95_bar__plus_01_dot_15_bar__minus_00_dot_37 - object\n Apple_bar__plus_02_dot_00_bar__plus_00_dot_11_bar__plus_00_dot_11 - object\n Bowl_bar__plus_01_dot_89_bar__plus_00_dot_81_bar__minus_00_dot_37 - object\n Bowl_bar__plus_01_dot_89_bar__plus_01_dot_10_bar__minus_00_dot_55 - object\n Bread_bar__minus_01_dot_13_bar__plus_00_dot_98_bar__minus_00_dot_20 - object\n ButterKnife_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_66 - object\n ButterKnife_bar__minus_01_dot_02_bar__plus_00_dot_91_bar__minus_02_dot_01 - object\n ButterKnife_bar__minus_01_dot_33_bar__plus_00_dot_90_bar__minus_00_dot_05 - object\n Chair_bar__minus_00_dot_08_bar__plus_00_dot_01_bar__plus_00_dot_76 - object\n Chair_bar__minus_00_dot_46_bar__plus_00_dot_01_bar__plus_00_dot_75 - object\n Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 - object\n DishSponge_bar__plus_00_dot_02_bar__plus_00_dot_12_bar__plus_00_dot_25 - object\n DishSponge_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__minus_01_dot_90 - object\n DishSponge_bar__minus_00_dot_60_bar__plus_01_dot_13_bar__plus_00_dot_62 - object\n Egg_bar__minus_00_dot_63_bar__plus_00_dot_95_bar__plus_00_dot_35 - 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_25_bar__plus_00_dot_70_bar__plus_00_dot_14 - object\n HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 - object\n Kettle_bar__plus_01_dot_42_bar__plus_00_dot_91_bar__minus_01_dot_93 - object\n Kettle_bar__minus_01_dot_06_bar__plus_00_dot_91_bar__plus_00_dot_19 - object\n Kettle_bar__minus_01_dot_28_bar__plus_00_dot_91_bar__plus_00_dot_24 - object\n Knife_bar__minus_00_dot_66_bar__plus_00_dot_72_bar__minus_01_dot_94 - object\n Ladle_bar__plus_00_dot_01_bar__plus_00_dot_73_bar__plus_00_dot_18 - object\n Ladle_bar__minus_00_dot_21_bar__plus_00_dot_95_bar__plus_00_dot_08 - object\n Ladle_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_00_dot_30 - object\n Lettuce_bar__plus_01_dot_95_bar__plus_01_dot_50_bar__minus_00_dot_37 - object\n Lettuce_bar__plus_02_dot_00_bar__plus_00_dot_89_bar__minus_00_dot_55 - object\n Lettuce_bar__plus_02_dot_00_bar__plus_00_dot_89_bar__minus_00_dot_74 - object\n LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 - object\n Mug_bar__plus_00_dot_50_bar__plus_00_dot_96_bar__minus_01_dot_90 - object\n Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 - object\n Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 - object\n PaperTowelRoll_bar__plus_01_dot_88_bar__plus_00_dot_17_bar__plus_00_dot_08 - object\n PepperShaker_bar__plus_03_dot_00_bar__plus_00_dot_88_bar__plus_00_dot_09 - object\n PepperShaker_bar__minus_00_dot_05_bar__plus_00_dot_69_bar__plus_00_dot_06 - object\n PepperShaker_bar__minus_00_dot_42_bar__plus_00_dot_91_bar__plus_00_dot_03 - object\n Plate_bar__plus_01_dot_19_bar__plus_00_dot_91_bar__minus_01_dot_93 - object\n Plate_bar__minus_00_dot_19_bar__plus_00_dot_11_bar__plus_00_dot_16 - object\n Potato_bar__minus_00_dot_38_bar__plus_01_dot_16_bar__plus_00_dot_53 - object\n Potato_bar__minus_00_dot_91_bar__plus_00_dot_94_bar__minus_00_dot_17 - object\n Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 - object\n SaltShaker_bar__plus_02_dot_90_bar__plus_00_dot_88_bar__plus_00_dot_11 - object\n SaltShaker_bar__minus_01_dot_36_bar__plus_01_dot_65_bar__minus_01_dot_54 - object\n Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 - object\n SoapBottle_bar__minus_01_dot_41_bar__plus_00_dot_91_bar__minus_00_dot_41 - object\n Spatula_bar__plus_00_dot_07_bar__plus_01_dot_15_bar__plus_00_dot_49 - object\n Spatula_bar__minus_00_dot_38_bar__plus_00_dot_78_bar__minus_01_dot_95 - object\n Spatula_bar__minus_00_dot_99_bar__plus_00_dot_93_bar__minus_01_dot_72 - object\n Spoon_bar__minus_00_dot_20_bar__plus_00_dot_76_bar__minus_01_dot_95 - object\n Statue_bar__plus_02_dot_69_bar__plus_00_dot_56_bar__plus_00_dot_09 - object\n Statue_bar__minus_01_dot_16_bar__plus_00_dot_92_bar__minus_01_dot_55 - 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_02_dot_06_bar__plus_01_dot_15_bar__minus_00_dot_83 - object\n Tomato_bar__minus_00_dot_03_bar__plus_00_dot_81_bar__minus_02_dot_12 - object\n Tomato_bar__minus_00_dot_15_bar__plus_01_dot_18_bar__plus_00_dot_66 - object\n Vase_bar__plus_01_dot_64_bar__plus_00_dot_92_bar__minus_01_dot_84 - object\n Vase_bar__plus_02_dot_98_bar__plus_00_dot_54_bar__plus_00_dot_13 - object\n Vase_bar__minus_01_dot_02_bar__plus_00_dot_91_bar__minus_01_dot_85 - object\n Cabinet_bar__plus_00_dot_12_bar__plus_02_dot_27_bar__minus_02_dot_00 - receptacle\n Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle\n Cabinet_bar__plus_01_dot_18_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle\n Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_46_bar__minus_01_dot_69 - receptacle\n Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 - receptacle\n Cabinet_bar__plus_01_dot_74_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle\n Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03 - receptacle\n Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40 - receptacle\n Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_37_bar__minus_00_dot_01 - receptacle\n Cabinet_bar__minus_00_dot_45_bar__plus_00_dot_47_bar__minus_00_dot_01 - receptacle\n Cabinet_bar__minus_00_dot_46_bar__plus_02_dot_27_bar__minus_02_dot_00 - receptacle\n Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_01_dot_69 - receptacle\n Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_00_dot_05 - receptacle\n Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_01_dot_67 - receptacle\n Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle\n Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__plus_00_dot_38 - receptacle\n Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_00_dot_77 - receptacle\n Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_01_dot_98 - receptacle\n Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_84 - receptacle\n Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_01_dot_42 - receptacle\n CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_02_dot_13 - receptacle\n CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01 - receptacle\n CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57 - receptacle\n CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19 - receptacle\n Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01 - receptacle\n Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01 - receptacle\n Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69 - receptacle\n Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54 - receptacle\n GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14 - receptacle\n Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35 - receptacle\n Shelf_bar__plus_02_dot_81_bar__plus_00_dot_16_bar__plus_00_dot_14 - receptacle\n Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14 - receptacle\n Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 - receptacle\n Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_00_dot_67 - receptacle\n StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13 - receptacle\n StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_00_dot_76 - receptacle\n StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_02 - receptacle\n Toaster_bar__plus_00_dot_84_bar__plus_00_dot_90_bar__minus_02_dot_06 - receptacle\n loc_bar__minus_2_bar__minus_2_bar_3_bar__minus_30 - location\n loc_bar__minus_2_bar__minus_1_bar_3_bar__minus_30 - location\n loc_bar_3_bar__minus_2_bar_3_bar_45 - location\n loc_bar_8_bar_3_bar_2_bar_60 - location\n loc_bar_4_bar__minus_5_bar_1_bar__minus_30 - location\n loc_bar_2_bar__minus_4_bar_1_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_3_bar_45 - location\n loc_bar_2_bar__minus_5_bar_2_bar_45 - location\n loc_bar_1_bar_4_bar_3_bar_60 - location\n loc_bar_8_bar_3_bar_1_bar_45 - location\n loc_bar__minus_2_bar__minus_3_bar_3_bar_45 - location\n loc_bar__minus_1_bar__minus_3_bar_2_bar_45 - location\n loc_bar__minus_2_bar__minus_4_bar_3_bar__minus_30 - location\n loc_bar_4_bar__minus_5_bar_1_bar_45 - location\n loc_bar_4_bar__minus_3_bar_1_bar_60 - location\n loc_bar_2_bar_6_bar_0_bar_30 - location\n loc_bar__minus_2_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_0_bar__minus_2_bar_3_bar_60 - location\n loc_bar_11_bar_6_bar_2_bar_45 - location\n loc_bar_10_bar_5_bar_2_bar_45 - location\n loc_bar__minus_2_bar__minus_2_bar_0_bar_45 - location\n loc_bar_4_bar__minus_5_bar_2_bar_45 - location\n loc_bar_1_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_0_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar__minus_2_bar__minus_5_bar_3_bar_45 - location\n loc_bar_0_bar__minus_5_bar_3_bar_45 - location\n loc_bar_0_bar__minus_5_bar_2_bar_45 - location\n loc_bar__minus_2_bar_5_bar_2_bar_60 - location\n loc_bar_4_bar__minus_3_bar_2_bar_45 - location\n loc_bar_2_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar__minus_2_bar__minus_3_bar_3_bar_60 - location\n loc_bar_0_bar__minus_4_bar_3_bar_60 - location\n loc_bar_4_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar__minus_1_bar__minus_4_bar_0_bar_45 - location\n loc_bar_0_bar__minus_2_bar_0_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_0_bar_45 - location\n loc_bar_3_bar__minus_5_bar_2_bar_45 - location\n loc_bar__minus_2_bar__minus_4_bar_3_bar_60 - location\n loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15 - location\n loc_bar_2_bar_3_bar_3_bar_30 - location\n loc_bar__minus_2_bar__minus_5_bar_3_bar__minus_30 - location\n loc_bar_0_bar_6_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_84 CabinetType)\n (receptacleType Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 ShelfType)\n (receptacleType Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_37_bar__minus_00_dot_01 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40 CabinetType)\n 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Lettuce_bar__plus_02_dot_00_bar__plus_00_dot_89_bar__minus_00_dot_74)\n (coolable Tomato_bar__minus_00_dot_15_bar__plus_01_dot_18_bar__plus_00_dot_66)\n (coolable Mug_bar__plus_00_dot_50_bar__plus_00_dot_96_bar__minus_01_dot_90)\n \n \n \n \n \n (sliceable Potato_bar__minus_00_dot_38_bar__plus_01_dot_16_bar__plus_00_dot_53)\n (sliceable Tomato_bar__plus_02_dot_06_bar__plus_01_dot_15_bar__minus_00_dot_83)\n (sliceable Apple_bar__plus_01_dot_95_bar__plus_01_dot_15_bar__minus_00_dot_37)\n (sliceable Potato_bar__minus_00_dot_91_bar__plus_00_dot_94_bar__minus_00_dot_17)\n (sliceable Lettuce_bar__plus_02_dot_00_bar__plus_00_dot_89_bar__minus_00_dot_55)\n (sliceable Apple_bar__plus_01_dot_85_bar__plus_00_dot_11_bar__plus_00_dot_20)\n (sliceable Tomato_bar__minus_00_dot_03_bar__plus_00_dot_81_bar__minus_02_dot_12)\n (sliceable Apple_bar__plus_02_dot_00_bar__plus_00_dot_11_bar__plus_00_dot_11)\n (sliceable Lettuce_bar__plus_01_dot_95_bar__plus_01_dot_50_bar__minus_00_dot_37)\n (sliceable Bread_bar__minus_01_dot_13_bar__plus_00_dot_98_bar__minus_00_dot_20)\n (sliceable Egg_bar__minus_00_dot_63_bar__plus_00_dot_95_bar__plus_00_dot_35)\n (sliceable Lettuce_bar__plus_02_dot_00_bar__plus_00_dot_89_bar__minus_00_dot_74)\n (sliceable Tomato_bar__minus_00_dot_15_bar__plus_01_dot_18_bar__plus_00_dot_66)\n \n (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)\n (inReceptacle Knife_bar__minus_00_dot_66_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)\n (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)\n (inReceptacle SaltShaker_bar__minus_01_dot_36_bar__plus_01_dot_65_bar__minus_01_dot_54 Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_01_dot_98)\n (inReceptacle DishSponge_bar__plus_00_dot_02_bar__plus_00_dot_12_bar__plus_00_dot_25 Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_37_bar__minus_00_dot_01)\n (inReceptacle Plate_bar__minus_00_dot_19_bar__plus_00_dot_11_bar__plus_00_dot_16 Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_37_bar__minus_00_dot_01)\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 SoapBottle_bar__minus_01_dot_41_bar__plus_00_dot_91_bar__minus_00_dot_41 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Kettle_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 Ladle_bar__minus_00_dot_21_bar__plus_00_dot_95_bar__plus_00_dot_08 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Bread_bar__minus_01_dot_13_bar__plus_00_dot_98_bar__minus_00_dot_20 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle ButterKnife_bar__minus_01_dot_33_bar__plus_00_dot_90_bar__minus_00_dot_05 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_19 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Ladle_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_00_dot_30 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle PepperShaker_bar__minus_00_dot_42_bar__plus_00_dot_91_bar__plus_00_dot_03 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Egg_bar__minus_00_dot_63_bar__plus_00_dot_95_bar__plus_00_dot_35 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Potato_bar__minus_00_dot_91_bar__plus_00_dot_94_bar__minus_00_dot_17 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Potato_bar__minus_00_dot_38_bar__plus_01_dot_16_bar__plus_00_dot_53 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle Tomato_bar__minus_00_dot_15_bar__plus_01_dot_18_bar__plus_00_dot_66 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle ButterKnife_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_66 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle Spatula_bar__plus_00_dot_07_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 DishSponge_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)\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 Ladle_bar__plus_00_dot_01_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_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 PepperShaker_bar__minus_00_dot_05_bar__plus_00_dot_69_bar__plus_00_dot_06 Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01)\n (inReceptacle ButterKnife_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)\n (inReceptacle Vase_bar__plus_01_dot_64_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)\n (inReceptacle Kettle_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)\n (inReceptacle Vase_bar__minus_01_dot_02_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 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 Plate_bar__plus_01_dot_19_bar__plus_00_dot_91_bar__minus_01_dot_93 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Spatula_bar__minus_00_dot_99_bar__plus_00_dot_93_bar__minus_01_dot_72 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Statue_bar__minus_01_dot_16_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 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)\n (inReceptacle Apple_bar__plus_02_dot_00_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_01_dot_88_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 PepperShaker_bar__plus_03_dot_00_bar__plus_00_dot_88_bar__plus_00_dot_09 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14)\n (inReceptacle SaltShaker_bar__plus_02_dot_90_bar__plus_00_dot_88_bar__plus_00_dot_11 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14)\n (inReceptacle Statue_bar__plus_02_dot_69_bar__plus_00_dot_56_bar__plus_00_dot_09 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 Bowl_bar__plus_01_dot_89_bar__plus_00_dot_81_bar__minus_00_dot_37 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Lettuce_bar__plus_02_dot_00_bar__plus_00_dot_89_bar__minus_00_dot_55 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Lettuce_bar__plus_02_dot_00_bar__plus_00_dot_89_bar__minus_00_dot_74 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Lettuce_bar__plus_01_dot_95_bar__plus_01_dot_50_bar__minus_00_dot_37 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Tomato_bar__plus_02_dot_06_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 Apple_bar__plus_01_dot_95_bar__plus_01_dot_15_bar__minus_00_dot_37 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Bowl_bar__plus_01_dot_89_bar__plus_01_dot_10_bar__minus_00_dot_55 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle DishSponge_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__minus_01_dot_90 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Spatula_bar__minus_00_dot_38_bar__plus_00_dot_78_bar__minus_01_dot_95 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Spoon_bar__minus_00_dot_20_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 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 Tomato_bar__minus_00_dot_03_bar__plus_00_dot_81_bar__minus_02_dot_12 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle 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__plus_02_dot_69_bar__plus_00_dot_56_bar__plus_00_dot_09 loc_bar_10_bar_5_bar_2_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_03_bar__plus_00_dot_81_bar__minus_02_dot_12 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__plus_00_dot_02_bar__plus_00_dot_12_bar__plus_00_dot_25 loc_bar__minus_1_bar__minus_4_bar_0_bar_45)\n (objectAtLocation ButterKnife_bar__minus_01_dot_02_bar__plus_00_dot_91_bar__minus_02_dot_01 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_42_bar__plus_00_dot_91_bar__plus_00_dot_03 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Lettuce_bar__plus_02_dot_00_bar__plus_00_dot_89_bar__minus_00_dot_55 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation SaltShaker_bar__plus_02_dot_90_bar__plus_00_dot_88_bar__plus_00_dot_11 loc_bar_8_bar_3_bar_1_bar_45)\n (objectAtLocation Spatula_bar__minus_00_dot_38_bar__plus_00_dot_78_bar__minus_01_dot_95 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Plate_bar__minus_00_dot_19_bar__plus_00_dot_11_bar__plus_00_dot_16 loc_bar__minus_1_bar__minus_4_bar_0_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_91_bar__plus_00_dot_94_bar__minus_00_dot_17 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Kettle_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 Apple_bar__plus_01_dot_85_bar__plus_00_dot_11_bar__plus_00_dot_20 loc_bar_8_bar_3_bar_2_bar_60)\n (objectAtLocation Ladle_bar__minus_00_dot_21_bar__plus_00_dot_95_bar__plus_00_dot_08 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Bowl_bar__plus_01_dot_89_bar__plus_00_dot_81_bar__minus_00_dot_37 loc_bar_4_bar__minus_3_bar_1_bar_60)\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_02_dot_00_bar__plus_00_dot_11_bar__plus_00_dot_11 loc_bar_8_bar_3_bar_2_bar_60)\n (objectAtLocation Lettuce_bar__plus_02_dot_00_bar__plus_00_dot_89_bar__minus_00_dot_74 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__minus_00_dot_05_bar__plus_00_dot_69_bar__plus_00_dot_06 loc_bar_3_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Tomato_bar__plus_02_dot_06_bar__plus_01_dot_15_bar__minus_00_dot_83 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Spatula_bar__plus_00_dot_07_bar__plus_01_dot_15_bar__plus_00_dot_49 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Kettle_bar__plus_01_dot_42_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_38_bar__plus_01_dot_13_bar__plus_00_dot_66 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation DishSponge_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__minus_01_dot_90 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Ladle_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_00_dot_30 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Chair_bar__minus_00_dot_46_bar__plus_00_dot_01_bar__plus_00_dot_75 loc_bar__minus_2_bar_5_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_08_bar__plus_00_dot_01_bar__plus_00_dot_76 loc_bar_1_bar_4_bar_3_bar_60)\n (objectAtLocation HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_66_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_89_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_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__plus_00_dot_01_bar__plus_00_dot_73_bar__plus_00_dot_18 loc_bar_3_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Apple_bar__plus_01_dot_95_bar__plus_01_dot_15_bar__minus_00_dot_37 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Kettle_bar__minus_01_dot_06_bar__plus_00_dot_91_bar__plus_00_dot_19 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Vase_bar__minus_01_dot_02_bar__plus_00_dot_91_bar__minus_01_dot_85 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_38_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_06_bar__plus_00_dot_96_bar__minus_01_dot_13 loc_bar__minus_2_bar__minus_5_bar_3_bar_45)\n (objectAtLocation Bread_bar__minus_01_dot_13_bar__plus_00_dot_98_bar__minus_00_dot_20 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Plate_bar__plus_01_dot_19_bar__plus_00_dot_91_bar__minus_01_dot_93 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 loc_bar_2_bar_6_bar_0_bar_30)\n (objectAtLocation Spatula_bar__minus_00_dot_99_bar__plus_00_dot_93_bar__minus_01_dot_72 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation PaperTowelRoll_bar__plus_01_dot_88_bar__plus_00_dot_17_bar__plus_00_dot_08 loc_bar_8_bar_3_bar_2_bar_60)\n (objectAtLocation Vase_bar__plus_01_dot_64_bar__plus_00_dot_92_bar__minus_01_dot_84 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_63_bar__plus_00_dot_95_bar__plus_00_dot_35 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_41_bar__plus_00_dot_91_bar__minus_00_dot_41 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation SaltShaker_bar__minus_01_dot_36_bar__plus_01_dot_65_bar__minus_01_dot_54 loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15)\n (objectAtLocation Lettuce_bar__plus_01_dot_95_bar__plus_01_dot_50_bar__minus_00_dot_37 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__plus_03_dot_00_bar__plus_00_dot_88_bar__plus_00_dot_09 loc_bar_8_bar_3_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__minus_01_dot_33_bar__plus_00_dot_90_bar__minus_00_dot_05 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_83 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_68 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_97 loc_bar__minus_2_bar__minus_4_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_01_dot_12 loc_bar__minus_2_bar__minus_4_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__minus_00_dot_60_bar__plus_01_dot_13_bar__plus_00_dot_62 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_20_bar__plus_00_dot_76_bar__minus_01_dot_95 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_15_bar__plus_01_dot_18_bar__plus_00_dot_66 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_16_bar__plus_00_dot_92_bar__minus_01_dot_55 loc_bar_4_bar__minus_5_bar_2_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (coolable ?o)\n (objectType ?o EggType)\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 egg 1 from countertop 2", "go to fridge 1", "cool egg 1 with fridge 1", "go to microwave 1", "open microwave 1", "move egg 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-Egg-None-Microwave-5/trial_T20190908_005859_323253/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-Microwave-5/trial_T20190908_005859_323253/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..ce00969fc5003e8acaa60edcf5c1bc98b9c2c503 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-Microwave-5/trial_T20190908_005859_323253/initial_state.pddl @@ -0,0 +1,1269 @@ + +(define (problem plan_trial_T20190908_005859_323253) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__plus_01_dot_85_bar__plus_00_dot_11_bar__plus_00_dot_20 - object + Apple_bar__plus_01_dot_95_bar__plus_01_dot_15_bar__minus_00_dot_37 - object + Apple_bar__plus_02_dot_00_bar__plus_00_dot_11_bar__plus_00_dot_11 - object + Bowl_bar__plus_01_dot_89_bar__plus_00_dot_81_bar__minus_00_dot_37 - object + Bowl_bar__plus_01_dot_89_bar__plus_01_dot_10_bar__minus_00_dot_55 - object + Bread_bar__minus_01_dot_13_bar__plus_00_dot_98_bar__minus_00_dot_20 - object + ButterKnife_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_66 - object + ButterKnife_bar__minus_01_dot_02_bar__plus_00_dot_91_bar__minus_02_dot_01 - object + ButterKnife_bar__minus_01_dot_33_bar__plus_00_dot_90_bar__minus_00_dot_05 - 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_02_bar__plus_00_dot_12_bar__plus_00_dot_25 - object + DishSponge_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__minus_01_dot_90 - object + DishSponge_bar__minus_00_dot_60_bar__plus_01_dot_13_bar__plus_00_dot_62 - object + Egg_bar__minus_00_dot_63_bar__plus_00_dot_95_bar__plus_00_dot_35 - object + Faucet_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_20 - 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_42_bar__plus_00_dot_91_bar__minus_01_dot_93 - object + Kettle_bar__minus_01_dot_06_bar__plus_00_dot_91_bar__plus_00_dot_19 - object + Kettle_bar__minus_01_dot_28_bar__plus_00_dot_91_bar__plus_00_dot_24 - object + Knife_bar__minus_00_dot_66_bar__plus_00_dot_72_bar__minus_01_dot_94 - object + Ladle_bar__plus_00_dot_01_bar__plus_00_dot_73_bar__plus_00_dot_18 - object + Ladle_bar__minus_00_dot_21_bar__plus_00_dot_95_bar__plus_00_dot_08 - object + Ladle_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_00_dot_30 - object + Lettuce_bar__plus_01_dot_95_bar__plus_01_dot_50_bar__minus_00_dot_37 - object + Lettuce_bar__plus_02_dot_00_bar__plus_00_dot_89_bar__minus_00_dot_55 - object + Lettuce_bar__plus_02_dot_00_bar__plus_00_dot_89_bar__minus_00_dot_74 - object + LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 - object + Mug_bar__plus_00_dot_50_bar__plus_00_dot_96_bar__minus_01_dot_90 - object + Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 - object + Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 - object + PaperTowelRoll_bar__plus_01_dot_88_bar__plus_00_dot_17_bar__plus_00_dot_08 - object + PepperShaker_bar__plus_03_dot_00_bar__plus_00_dot_88_bar__plus_00_dot_09 - object + PepperShaker_bar__minus_00_dot_05_bar__plus_00_dot_69_bar__plus_00_dot_06 - object + PepperShaker_bar__minus_00_dot_42_bar__plus_00_dot_91_bar__plus_00_dot_03 - object + Plate_bar__plus_01_dot_19_bar__plus_00_dot_91_bar__minus_01_dot_93 - object + Plate_bar__minus_00_dot_19_bar__plus_00_dot_11_bar__plus_00_dot_16 - object + Potato_bar__minus_00_dot_38_bar__plus_01_dot_16_bar__plus_00_dot_53 - object + Potato_bar__minus_00_dot_91_bar__plus_00_dot_94_bar__minus_00_dot_17 - object + Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 - object + SaltShaker_bar__plus_02_dot_90_bar__plus_00_dot_88_bar__plus_00_dot_11 - object + SaltShaker_bar__minus_01_dot_36_bar__plus_01_dot_65_bar__minus_01_dot_54 - object + Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 - object + SoapBottle_bar__minus_01_dot_41_bar__plus_00_dot_91_bar__minus_00_dot_41 - object + 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loc_bar_10_bar_5_bar_2_bar_45) + (objectAtLocation Spoon_bar__minus_00_dot_20_bar__plus_00_dot_76_bar__minus_01_dot_95 loc_bar_0_bar__minus_5_bar_2_bar_45) + (objectAtLocation Tomato_bar__minus_00_dot_15_bar__plus_01_dot_18_bar__plus_00_dot_66 loc_bar_2_bar_3_bar_3_bar_30) + (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) + (objectAtLocation Statue_bar__minus_01_dot_16_bar__plus_00_dot_92_bar__minus_01_dot_55 loc_bar_4_bar__minus_5_bar_2_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (coolable ?o) + (objectType ?o EggType) + (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-Egg-None-Microwave-5/trial_T20190908_005859_323253/traj_data.json 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2.002939, + "y": 0.111713648, + "z": 0.109019831 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_14c38bc8", + "position": { + "x": -1.2899, + "y": 0.957, + "z": -1.02 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_84756f6d", + "position": { + "x": -0.6576, + "y": 0.7179415, + "z": -1.9351815 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_4de763d6", + "position": { + "x": 1.89104962, + "y": 0.814439952, + "z": -0.365081728 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Fork_66b6c857", + "position": { + "x": -0.2527125, + "y": 0.696219742, + "z": 0.139693767 + }, + "rotation": { + "x": 7.0167104e-15, + "y": 90.0, + "z": -7.01670955e-15 + } + }, + { + "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": -0.205553234, + "y": 0.95044, + "z": 0.08309689 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_3526507b", + "position": { + "x": 1.84506106, + "y": 0.111713648, + "z": 0.195960343 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Kettle_7c4fce22", + "position": { + "x": -1.27819037, + "y": 0.914541245, + "z": 0.241651565 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Vase_777c51a0", + "position": { + "x": -1.018377, + "y": 0.9134594, + "z": -1.84518552 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_8a9da01b", + "position": { + "x": -0.913873434, + "y": 0.943985343, + "z": -0.170473665 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pot_b40d1b1e", + "position": { + "x": -1.0561, + "y": 0.956400037, + "z": -1.127 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_0d0ef808", + "position": { + "x": -1.13265073, + "y": 0.9817053, + "z": -0.195554972 + }, + "rotation": { + "x": -0.00261057145, + "y": 359.3152, + "z": 358.149353 + } + }, + { + "objectName": "Plate_c0097cec", + "position": { + "x": -0.192875, + "y": 0.1146639, + "z": 0.163000017 + }, + "rotation": { + "x": 7.01670955e-15, + "y": 180.0, + "z": 7.01670955e-15 + } + }, + { + "objectName": "Spatula_ef52a4ea", + "position": { + "x": -0.376407981, + "y": 0.778356, + "z": -1.95272 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": -1.40334191e-14 + } + }, + { + "objectName": "PaperTowelRoll_e7f3845e", + "position": { + "x": 1.88453054, + "y": 0.167410433, + "z": 0.08003965 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Vase_f4e7dd3c", + "position": { + "x": 1.64408183, + "y": 0.9176706, + "z": -1.84470069 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Egg_c00db6cc", + "position": { + "x": -0.63460803, + "y": 0.9471739, + "z": 0.34735468 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_99ef625f", + "position": { + "x": -1.41390681, + "y": 0.9135983, + "z": -0.414481372 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_52c85e6d", + "position": { + "x": 2.90061426, + "y": 0.8761374, + "z": 0.114231095 + }, + "rotation": { + "x": 3.415104e-06, + "y": 180.0003, + "z": -3.4150853e-06 + } + }, + { + "objectName": "Lettuce_9396b7e6", + "position": { + "x": 2.00055647, + "y": 0.8936437, + "z": -0.5512901 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_b0cc376f", + "position": { + "x": -0.420080632, + "y": 0.9098062, + "z": 0.0302453339 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_1a7bf448", + "position": { + "x": -1.018377, + "y": 0.911342, + "z": -2.014 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_42dba209", + "position": { + "x": 0.02274999, + "y": 0.115786016, + "z": 0.245646521 + }, + "rotation": { + "x": 7.01670955e-15, + "y": 180.0, + "z": 7.01670955e-15 + } + }, + { + "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": -0.203713372, + "y": 0.764485538, + "z": -1.95272 + }, + "rotation": { + "x": 1.40334191e-14, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_74fc855a", + "position": { + "x": -0.0310187489, + "y": 0.812916636, + "z": -2.1185596 + }, + "rotation": { + "x": 1.40334191e-14, + "y": 0.0, + "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": 2.69476652, + "y": 0.5591226, + "z": 0.0903265 + }, + "rotation": { + "x": -1.20782931e-06, + "y": 90.00033, + "z": -1.20783614e-06 + } + } + ], + "object_toggles": [], + "random_seed": 2018619925, + "scene_num": 5 + }, + "task_id": "trial_T20190908_005859_323253", + "task_type": "pick_cool_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2A028LRDJB7ZB_3LQ8PUHQFO9B1YFOQ32EVNW2ML1IH1", + "high_descs": [ + "Turn to your right then move few steps, turn right then head to the counter top on you right", + "Pick up the egg on the counter top", + "Turn right walk straight then head to the fridge", + "Open the fridge put in the egg wait for it then pick it up and close the fridge", + "Turn to your right walk few steps then face the microwave on your left", + "Open the microwave and put in the egg" + ], + "task_desc": "Put the chilled egg in the microwave", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A14IPKOBOPID9H_3NPFYT4IZFLURX985JKXDX7GVYXXGM", + "high_descs": [ + "Turn right and go as far as the door on the left then turn right, go as far as the fridge then turn right and go to the counter and turn right", + "Pick up the egg from the counter", + "Turn right and go to the fridge", + "Put the egg in the fridge and wait a bit then take the egg out of the fridge", + "Turn right and go to the microwave that is next to the fridge", + "Put the egg in the microwave" + ], + "task_desc": "Move the egg from the counter to inside the microwave", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3QXNC7EIPLC7FXGPO1PGC2YIHEE090", + "high_descs": [ + "Turn around and go right and then right again and then turn right towards the counter with the salt shaker on it.", + "Pick the egg up from the counter.", + "Go to the right and face the fridge.", + "Open the fridge and put the egg in and shut the door and then open the door and pick the egg up again and shut the fridge door.", + "Move to the right to face the microwave.", + "Put the egg in the microwave and shut the door." + ], + "task_desc": "Put a chilled egg 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-Egg-None-SinkBasin-25/trial_T20190909_105100_154263/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-SinkBasin-25/trial_T20190909_105100_154263/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..7716ed3cdbdf2a9ed1a51fdd0097d785e6af45f4 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-SinkBasin-25/trial_T20190909_105100_154263/initial_state.pddl @@ -0,0 +1,886 @@ + +(define (problem plan_trial_T20190909_105100_154263) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_13_bar__plus_02_dot_64 - object + Apple_bar__minus_02_dot_73_bar__plus_01_dot_52_bar__plus_02_dot_31 - object + Apple_bar__minus_02_dot_84_bar__plus_01_dot_22_bar__plus_02_dot_22 - object + Bowl_bar__minus_02_dot_57_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_00_dot_82_bar__plus_00_dot_81_bar__plus_00_dot_35 - object + Chair_bar__minus_00_dot_91_bar__plus_00_dot_01_bar__plus_02_dot_12 - object + Cup_bar__minus_02_dot_49_bar__plus_00_dot_82_bar__plus_00_dot_28 - object + DishSponge_bar__minus_00_dot_98_bar__plus_00_dot_82_bar__plus_00_dot_50 - object + DishSponge_bar__minus_02_dot_63_bar__plus_00_dot_69_bar__plus_01_dot_47 - object + Egg_bar__minus_01_dot_54_bar__plus_00_dot_85_bar__plus_00_dot_07 - object + Faucet_bar__minus_01_dot_69_bar__plus_00_dot_95_bar__plus_00_dot_18 - object + Fork_bar__minus_00_dot_39_bar__plus_00_dot_70_bar__plus_01_dot_29 - object + Fork_bar__minus_01_dot_54_bar__plus_00_dot_82_bar__plus_00_dot_53 - object + Knife_bar__minus_01_dot_88_bar__plus_00_dot_85_bar__plus_00_dot_52 - object + Knife_bar__minus_02_dot_38_bar__plus_00_dot_85_bar__plus_00_dot_13 - object + Knife_bar__minus_02_dot_96_bar__plus_00_dot_85_bar__plus_00_dot_13 - object + Ladle_bar__minus_02_dot_54_bar__plus_01_dot_89_bar__plus_01_dot_93 - 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_02_dot_81_bar__plus_00_dot_92_bar__plus_01_dot_23 - object + Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_01_dot_68 - object + PepperShaker_bar__minus_01_dot_37_bar__plus_00_dot_82_bar__plus_00_dot_05 - object + PepperShaker_bar__minus_02_dot_36_bar__plus_01_dot_43_bar__plus_00_dot_14 - object + Plate_bar__minus_01_dot_47_bar__plus_00_dot_13_bar__plus_00_dot_36 - object + Plate_bar__minus_02_dot_78_bar__plus_00_dot_83_bar__plus_02_dot_22 - object + Potato_bar__minus_02_dot_89_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_61_bar__plus_00_dot_82_bar__plus_00_dot_43 - object + Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34 - object + SoapBottle_bar__minus_02_dot_49_bar__plus_00_dot_82_bar__plus_00_dot_13 - object + Spatula_bar__minus_02_dot_58_bar__plus_00_dot_84_bar__plus_00_dot_71 - object + Spatula_bar__minus_02_dot_84_bar__plus_00_dot_84_bar__plus_00_dot_35 - 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 + Tomato_bar__minus_02_dot_72_bar__plus_00_dot_87_bar__plus_00_dot_13 - 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_5_bar_11_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_00_dot_91 DrawerType) + (receptacleType Cabinet_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__plus_00_dot_51 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_46_bar__plus_01_dot_80_bar__plus_00_dot_23 CabinetType) + (receptacleType StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_01_dot_68 StoveBurnerType) + (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_02_bar__plus_01_dot_72 CabinetType) + (receptacleType 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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_5_bar_11_bar_2_bar_30) + + (cleanable Apple_bar__minus_02_dot_73_bar__plus_01_dot_52_bar__plus_02_dot_31) + (cleanable Apple_bar__minus_02_dot_84_bar__plus_01_dot_22_bar__plus_02_dot_22) + (cleanable Ladle_bar__minus_02_dot_54_bar__plus_01_dot_89_bar__plus_01_dot_93) + (cleanable Spoon_bar__minus_01_dot_15_bar__plus_00_dot_81_bar__plus_00_dot_28) + (cleanable Tomato_bar__minus_02_dot_72_bar__plus_00_dot_87_bar__plus_00_dot_13) + (cleanable Fork_bar__minus_01_dot_54_bar__plus_00_dot_82_bar__plus_00_dot_53) + (cleanable Cup_bar__minus_02_dot_49_bar__plus_00_dot_82_bar__plus_00_dot_28) + (cleanable Mug_bar__minus_02_dot_81_bar__plus_00_dot_92_bar__plus_01_dot_23) + (cleanable DishSponge_bar__minus_00_dot_98_bar__plus_00_dot_82_bar__plus_00_dot_50) + (cleanable Lettuce_bar__minus_01_dot_84_bar__plus_00_dot_74_bar__plus_00_dot_24) + (cleanable Potato_bar__minus_02_dot_89_bar__plus_01_dot_48_bar__plus_02_dot_05) + (cleanable Bowl_bar__minus_02_dot_57_bar__plus_00_dot_12_bar__plus_01_dot_55) + (cleanable ButterKnife_bar__minus_00_dot_82_bar__plus_00_dot_81_bar__plus_00_dot_35) + (cleanable Knife_bar__minus_02_dot_38_bar__plus_00_dot_85_bar__plus_00_dot_13) + (cleanable Egg_bar__minus_01_dot_54_bar__plus_00_dot_85_bar__plus_00_dot_07) + (cleanable Knife_bar__minus_02_dot_96_bar__plus_00_dot_85_bar__plus_00_dot_13) + (cleanable Plate_bar__minus_01_dot_47_bar__plus_00_dot_13_bar__plus_00_dot_36) + (cleanable Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_01_dot_68) + (cleanable Spatula_bar__minus_02_dot_58_bar__plus_00_dot_84_bar__plus_00_dot_71) + (cleanable Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10) + (cleanable DishSponge_bar__minus_02_dot_63_bar__plus_00_dot_69_bar__plus_01_dot_47) + (cleanable Fork_bar__minus_00_dot_39_bar__plus_00_dot_70_bar__plus_01_dot_29) + (cleanable Knife_bar__minus_01_dot_88_bar__plus_00_dot_85_bar__plus_00_dot_52) + (cleanable Spatula_bar__minus_02_dot_84_bar__plus_00_dot_84_bar__plus_00_dot_35) + (cleanable Plate_bar__minus_02_dot_78_bar__plus_00_dot_83_bar__plus_02_dot_22) + (cleanable Apple_bar__minus_00_dot_33_bar__plus_00_dot_13_bar__plus_02_dot_64) + + (heatable Apple_bar__minus_02_dot_73_bar__plus_01_dot_52_bar__plus_02_dot_31) + (heatable Apple_bar__minus_02_dot_84_bar__plus_01_dot_22_bar__plus_02_dot_22) + (heatable Tomato_bar__minus_02_dot_72_bar__plus_00_dot_87_bar__plus_00_dot_13) + (heatable Cup_bar__minus_02_dot_49_bar__plus_00_dot_82_bar__plus_00_dot_28) + (heatable Mug_bar__minus_02_dot_81_bar__plus_00_dot_92_bar__plus_01_dot_23) + (heatable Potato_bar__minus_02_dot_89_bar__plus_01_dot_48_bar__plus_02_dot_05) + (heatable Egg_bar__minus_01_dot_54_bar__plus_00_dot_85_bar__plus_00_dot_07) + (heatable Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25) + (heatable Plate_bar__minus_01_dot_47_bar__plus_00_dot_13_bar__plus_00_dot_36) + (heatable Plate_bar__minus_02_dot_78_bar__plus_00_dot_83_bar__plus_02_dot_22) + (heatable Apple_bar__minus_00_dot_33_bar__plus_00_dot_13_bar__plus_02_dot_64) + (coolable Apple_bar__minus_02_dot_73_bar__plus_01_dot_52_bar__plus_02_dot_31) + (coolable Apple_bar__minus_02_dot_84_bar__plus_01_dot_22_bar__plus_02_dot_22) + (coolable Tomato_bar__minus_02_dot_72_bar__plus_00_dot_87_bar__plus_00_dot_13) + (coolable Cup_bar__minus_02_dot_49_bar__plus_00_dot_82_bar__plus_00_dot_28) + (coolable Mug_bar__minus_02_dot_81_bar__plus_00_dot_92_bar__plus_01_dot_23) + (coolable Lettuce_bar__minus_01_dot_84_bar__plus_00_dot_74_bar__plus_00_dot_24) + (coolable Potato_bar__minus_02_dot_89_bar__plus_01_dot_48_bar__plus_02_dot_05) + (coolable Bowl_bar__minus_02_dot_57_bar__plus_00_dot_12_bar__plus_01_dot_55) + (coolable Egg_bar__minus_01_dot_54_bar__plus_00_dot_85_bar__plus_00_dot_07) + (coolable Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25) + (coolable Plate_bar__minus_01_dot_47_bar__plus_00_dot_13_bar__plus_00_dot_36) + (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 Plate_bar__minus_02_dot_78_bar__plus_00_dot_83_bar__plus_02_dot_22) + (coolable Apple_bar__minus_00_dot_33_bar__plus_00_dot_13_bar__plus_02_dot_64) + + + + + + (sliceable Apple_bar__minus_02_dot_73_bar__plus_01_dot_52_bar__plus_02_dot_31) + (sliceable Apple_bar__minus_02_dot_84_bar__plus_01_dot_22_bar__plus_02_dot_22) + (sliceable Tomato_bar__minus_02_dot_72_bar__plus_00_dot_87_bar__plus_00_dot_13) + (sliceable Lettuce_bar__minus_01_dot_84_bar__plus_00_dot_74_bar__plus_00_dot_24) + (sliceable Potato_bar__minus_02_dot_89_bar__plus_01_dot_48_bar__plus_02_dot_05) + (sliceable Egg_bar__minus_01_dot_54_bar__plus_00_dot_85_bar__plus_00_dot_07) + (sliceable Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25) + (sliceable Apple_bar__minus_00_dot_33_bar__plus_00_dot_13_bar__plus_02_dot_64) + + (inReceptacle Ladle_bar__minus_02_dot_54_bar__plus_01_dot_89_bar__plus_01_dot_93 Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_02_bar__plus_01_dot_72) + (inReceptacle Fork_bar__minus_00_dot_39_bar__plus_00_dot_70_bar__plus_01_dot_29 Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_01_dot_25) + (inReceptacle Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10 StoveBurner_bar__minus_00_dot_52_bar__plus_00_dot_82_bar__plus_02_dot_08) + (inReceptacle Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_01_dot_68 StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_01_dot_68) + (inReceptacle Fork_bar__minus_01_dot_54_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 Cup_bar__minus_02_dot_49_bar__plus_00_dot_82_bar__plus_00_dot_28 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Spatula_bar__minus_02_dot_58_bar__plus_00_dot_84_bar__plus_00_dot_71 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Knife_bar__minus_01_dot_88_bar__plus_00_dot_85_bar__plus_00_dot_52 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle ButterKnife_bar__minus_00_dot_82_bar__plus_00_dot_81_bar__plus_00_dot_35 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Spatula_bar__minus_02_dot_84_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 Knife_bar__minus_02_dot_38_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 DishSponge_bar__minus_00_dot_98_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 Egg_bar__minus_01_dot_54_bar__plus_00_dot_85_bar__plus_00_dot_07 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle PepperShaker_bar__minus_01_dot_37_bar__plus_00_dot_82_bar__plus_00_dot_05 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 Knife_bar__minus_02_dot_96_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 Spoon_bar__minus_01_dot_15_bar__plus_00_dot_81_bar__plus_00_dot_28 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 SaltShaker_bar__minus_02_dot_61_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 Tomato_bar__minus_02_dot_72_bar__plus_00_dot_87_bar__plus_00_dot_13 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle SoapBottle_bar__minus_02_dot_49_bar__plus_00_dot_82_bar__plus_00_dot_13 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle DishSponge_bar__minus_02_dot_63_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_36_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 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 Plate_bar__minus_01_dot_47_bar__plus_00_dot_13_bar__plus_00_dot_36 Cabinet_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_56) + (inReceptacle Plate_bar__minus_02_dot_78_bar__plus_00_dot_83_bar__plus_02_dot_22 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_22 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Potato_bar__minus_02_dot_89_bar__plus_01_dot_48_bar__plus_02_dot_05 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Apple_bar__minus_02_dot_73_bar__plus_01_dot_52_bar__plus_02_dot_31 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_23 Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35) + (inReceptacle Apple_bar__minus_00_dot_33_bar__plus_00_dot_13_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) + + + (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 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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 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+ } + }, + { + "objectName": "Spatula_77ce7117", + "position": { + "x": -2.5815177, + "y": 0.8385998, + "z": 0.707708836 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_29dab58d", + "position": { + "x": -2.782, + "y": 0.8295449, + "z": 2.2217 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Knife_298dd93a", + "position": { + "x": -1.87690437, + "y": 0.8492183, + "z": 0.51863426 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_298dd93a", + "position": { + "x": -2.957396, + "y": 0.849218369, + "z": 0.1297577 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_407d7c3b", + "position": { + "x": -1.37479818, + "y": 0.8185999, + "z": 0.046149075 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_0dd786e0", + "position": { + "x": -2.83720756, + "y": 1.21668339, + "z": 2.2217 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Apple_0dd786e0", + "position": { + "x": -0.329300761, + "y": 0.129467249, + "z": 2.64073944 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_0dd786e0", + "position": { + "x": -2.72679281, + "y": 1.5185833, + "z": 2.30964518 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Fork_2c8fe53a", + "position": { + "x": -0.394495726, + "y": 0.6961957, + "z": 1.28873885 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Ladle_3943cbe8", + "position": { + "x": -2.54089117, + "y": 1.89342153, + "z": 1.92695618 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_e0764688", + "position": { + "x": -0.2442, + "y": 0.8297, + "z": 1.684 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_3a4a4d0d", + "position": { + 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+ }, + { + "objectName": "Spatula_77ce7117", + "position": { + "x": -2.84096551, + "y": 0.838599861, + "z": 0.3521211 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_298dd93a", + "position": { + "x": -2.375244, + "y": 0.849218369, + "z": 0.1297577 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Egg_68224885", + "position": { + "x": -1.542167, + "y": 0.8478782, + "z": 0.0731558651 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_61785f6c", + "position": { + "x": -2.49167442, + "y": 0.8239382, + "z": 0.278 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_d1baac51", + "position": { + "x": -0.81711, + "y": 0.8131849, + "z": 0.351775259 + }, + "rotation": { + "x": 358.356476, + "y": 359.9295, + "z": 0.08130967 + } + }, + { + "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": -2.35832071, + "y": 1.43102276, + "z": 0.142315656 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_eb848da8", + "position": { + "x": -0.9844614, + "y": 0.823164165, + "z": 0.5003637 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_db4f73f8", + "position": { + "x": -0.978309453, + "y": 0.8554829, + "z": 0.250599682 + }, + "rotation": { + "x": 359.983582, + "y": 30.3649731, + "z": 359.780151 + } + }, + { + "objectName": "Spoon_df0734fa", + "position": { + "x": -1.15181851, + "y": 0.812510252, + "z": 0.2780034 + }, + "rotation": { + "x": 0.0179422162, + "y": 4.654625e-06, + "z": 359.9267 + } + }, + { + "objectName": "Mug_57da2f86", + "position": { + "x": -2.81078935, + "y": 0.916441262, + "z": 1.23169565 + }, + "rotation": { + "x": 0.0, + "y": 89.99987, + "z": 0.0 + } + }, + { + "objectName": "Bowl_4c742e05", + "position": { + "x": -2.569851, + "y": 0.118135333, + "z": 1.55042481 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1065473264, + "scene_num": 25 + }, + "task_id": "trial_T20190909_105100_154263", + "task_type": "pick_cool_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3UF6XXFFRR237_3IXQG4FA2WPGK95XIPBMX5E32FB9BM", + "high_descs": [ + "go to the sink", + "take the egg from the sink", + "take the egg to the fridge", + "put the egg in the fridge then remove", + "take the egg to the sink", + "put the egg in the sink" + ], + "task_desc": "put an egg in the fridge then the sink", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1ELPYAFO7MANS_3M68NM076KYGIXKOGFU0DAS5U0H6RW", + "high_descs": [ + "Walk ahead to the sink.", + "Pick up the egg on the counter behind the sink.", + "Turn around and veer left, walking to the fridge.", + "Place the egg in the fridge in front of the plate. Close the door, wait a minute, and take it out again.", + "Turn left and walk back to the sink.", + "Place the egg in the left sink, in front and to the right of the drain." + ], + "task_desc": "Place a chilled egg in a sink.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A12HZGOZQD5YK7_3Z4XG4ZF4BINJ7POITXQM6AK1CGX8T", + "high_descs": [ + "Go across the room to the sink.", + "Pick up the egg on the back of the sink.", + "Turn around and go to the fridge.", + "Chill the egg in the fridge and pick it back up.", + "Turn left and go back to the sink.", + "Put the egg in the left side of the sink." + ], + "task_desc": "Put a chilled egg in the left side of 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-Egg-None-SinkBasin-25/trial_T20190909_105123_819114/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-SinkBasin-25/trial_T20190909_105123_819114/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..40b02702c112d887fd4a7bd99c7018596f0e31ed --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-SinkBasin-25/trial_T20190909_105123_819114/initial_state.pddl @@ -0,0 +1,941 @@ + +(define (problem plan_trial_T20190909_105123_819114) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_84_bar__plus_00_dot_99_bar__plus_01_dot_28 - object + Bowl_bar__minus_00_dot_40_bar__plus_00_dot_12_bar__plus_00_dot_91 - object + Bread_bar__minus_00_dot_97_bar__plus_00_dot_86_bar__plus_00_dot_25 - object + ButterKnife_bar__minus_02_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_48 - object + Chair_bar__minus_00_dot_91_bar__plus_00_dot_01_bar__plus_02_dot_12 - object + Cup_bar__minus_02_dot_67_bar__plus_01_dot_14_bar__plus_02_dot_13 - object + DishSponge_bar__minus_00_dot_36_bar__plus_00_dot_06_bar__plus_02_dot_64 - object + DishSponge_bar__minus_01_dot_58_bar__plus_00_dot_12_bar__plus_00_dot_44 - object + DishSponge_bar__minus_02_dot_62_bar__plus_01_dot_85_bar__plus_02_dot_32 - object + Egg_bar__minus_00_dot_32_bar__plus_00_dot_85_bar__plus_01_dot_21 - object + Faucet_bar__minus_01_dot_69_bar__plus_00_dot_95_bar__plus_00_dot_18 - object + Fork_bar__minus_01_dot_15_bar__plus_00_dot_83_bar__plus_00_dot_20 - object + Fork_bar__minus_02_dot_50_bar__plus_00_dot_69_bar__plus_01_dot_47 - object + Fork_bar__minus_02_dot_63_bar__plus_00_dot_69_bar__plus_01_dot_55 - object + Knife_bar__minus_01_dot_37_bar__plus_00_dot_85_bar__plus_00_dot_53 - object + Knife_bar__minus_02_dot_84_bar__plus_00_dot_85_bar__plus_00_dot_13 - object + Ladle_bar__minus_02_dot_06_bar__plus_00_dot_17_bar__plus_00_dot_40 - object + Ladle_bar__minus_02_dot_54_bar__plus_01_dot_89_bar__plus_01_dot_88 - 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_01_dot_68 - object + Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08 - object + Pan_bar__minus_02_dot_73_bar__plus_01_dot_45_bar__plus_02_dot_40 - object + PepperShaker_bar__minus_01_dot_88_bar__plus_00_dot_82_bar__plus_00_dot_05 - object + PepperShaker_bar__minus_02_dot_65_bar__plus_00_dot_12_bar__plus_01_dot_59 - object + PepperShaker_bar__minus_02_dot_84_bar__plus_01_dot_43_bar__plus_01_dot_26 - object + Plate_bar__minus_02_dot_59_bar__plus_00_dot_81_bar__plus_00_dot_31 - object + Plate_bar__minus_02_dot_75_bar__plus_01_dot_44_bar__plus_00_dot_26 - object + Potato_bar__minus_01_dot_86_bar__plus_00_dot_74_bar__plus_00_dot_38 - object + Potato_bar__minus_02_dot_74_bar__plus_00_dot_96_bar__plus_01_dot_13 - object + Potato_bar__minus_02_dot_78_bar__plus_01_dot_18_bar__plus_02_dot_31 - object + Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10 - object + SaltShaker_bar__minus_01_dot_41_bar__plus_00_dot_12_bar__plus_00_dot_52 - object + SaltShaker_bar__minus_02_dot_38_bar__plus_00_dot_82_bar__plus_00_dot_20 - 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_54 - object + SoapBottle_bar__minus_02_dot_53_bar__plus_00_dot_12_bar__plus_01_dot_55 - object + Spatula_bar__minus_01_dot_88_bar__plus_00_dot_84_bar__plus_00_dot_53 - object + Spatula_bar__minus_02_dot_58_bar__plus_00_dot_84_bar__plus_00_dot_79 - object + 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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 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loc_bar__minus_7_bar_4_bar_2_bar_60 - location + loc_bar__minus_4_bar_6_bar_2_bar_60 - location + loc_bar__minus_7_bar_7_bar_3_bar__minus_30 - location + loc_bar__minus_4_bar_10_bar_1_bar_60 - location + loc_bar__minus_8_bar_4_bar_3_bar__minus_15 - location + loc_bar__minus_6_bar_4_bar_3_bar_60 - location + loc_bar__minus_4_bar_6_bar_1_bar_30 - location + loc_bar__minus_4_bar_4_bar_2_bar_45 - location + loc_bar__minus_7_bar_9_bar_3_bar__minus_30 - location + loc_bar__minus_4_bar_6_bar_1_bar_60 - location + loc_bar__minus_8_bar_5_bar_3_bar_45 - location + loc_bar__minus_4_bar_4_bar_2_bar_60 - location + loc_bar__minus_4_bar_4_bar_1_bar_45 - location + loc_bar__minus_4_bar_6_bar_1_bar_45 - location + loc_bar__minus_4_bar_10_bar_1_bar_30 - location + loc_bar__minus_8_bar_10_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_00_dot_91 DrawerType) + (receptacleType 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egg off of the counter", + "Turn around and go to the fridge", + "Cool the egg in the fridge and then take it out", + "Turn left and go to the sink", + "Put the egg in the sink" + ], + "task_desc": "Putting a cold egg in the sink", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_3QIYRE09Y680WDRZH2129UWELRFN1S", + "high_descs": [ + "Turn right and walk towards the sink, then hang a left and walk over to the counter.", + "Pick up the egg off of the counter.", + "Walk over to the fridge that is behind you.", + "Open the fridge door and put the egg inside on the top shelf then close the door, after a couple seconds open the fridge back up and remove the chilled egg, then close the door.", + "Turn around and walk forward, then hang a right and walk over to the sink.", + "Put the chilled egg into the leftmost sink basin." + ], + "task_desc": "Put a chilled egg in the sink.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A20FCMWP43CVIU_3RSDURM96DDTSDPP0S5SXUDFEL3EYA", + "high_descs": [ + "walk to face kitchen counter", + "pick up egg from counter", + "walk to face fridge", + "chill and remove egg from fridge", + "walk to face sink", + "put egg inside sink basin" + ], + "task_desc": "put chilled egg in 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-Egg-None-SinkBasin-25/trial_T20190909_105152_779771/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-SinkBasin-25/trial_T20190909_105152_779771/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..cd8aa83c2d1b23c742d6d664043f413550443b9a --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-SinkBasin-25/trial_T20190909_105152_779771/initial_state.pddl @@ -0,0 +1,988 @@ + +(define (problem plan_trial_T20190909_105152_779771) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_23 - object + Apple_bar__minus_02_dot_78_bar__plus_01_dot_52_bar__plus_01_dot_96 - object + Bowl_bar__minus_00_dot_40_bar__plus_00_dot_12_bar__plus_00_dot_91 - object + Bowl_bar__minus_02_dot_57_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_66_bar__plus_00_dot_82_bar__plus_00_dot_79 - object + Chair_bar__minus_00_dot_91_bar__plus_00_dot_01_bar__plus_02_dot_12 - object + Cup_bar__minus_02_dot_62_bar__plus_01_dot_85_bar__plus_02_dot_26 - object + Cup_bar__minus_02_dot_67_bar__plus_00_dot_83_bar__plus_02_dot_22 - object + Cup_bar__minus_02_dot_73_bar__plus_00_dot_83_bar__plus_02_dot_05 - object + DishSponge_bar__minus_00_dot_36_bar__plus_00_dot_70_bar__plus_00_dot_84 - object + DishSponge_bar__minus_01_dot_64_bar__plus_00_dot_12_bar__plus_00_dot_44 - object + DishSponge_bar__minus_02_dot_84_bar__plus_00_dot_82_bar__plus_00_dot_43 - object + Egg_bar__minus_01_dot_52_bar__plus_00_dot_72_bar__plus_00_dot_21 - object + Egg_bar__minus_01_dot_86_bar__plus_00_dot_72_bar__plus_00_dot_38 - object + Egg_bar__minus_02_dot_38_bar__plus_00_dot_85_bar__plus_00_dot_35 - 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_63_bar__plus_00_dot_69_bar__plus_01_dot_47 - object + Knife_bar__minus_01_dot_54_bar__plus_00_dot_85_bar__plus_00_dot_50 - object + Knife_bar__minus_02_dot_84_bar__plus_00_dot_85_bar__plus_00_dot_28 - object + Ladle_bar__minus_02_dot_54_bar__plus_01_dot_89_bar__plus_01_dot_98 - object + Lettuce_bar__minus_01_dot_84_bar__plus_00_dot_74_bar__plus_00_dot_24 - object + Lettuce_bar__minus_02_dot_78_bar__plus_01_dot_53_bar__plus_02_dot_22 - object + LightSwitch_bar__minus_00_dot_62_bar__plus_01_dot_38_bar__plus_03_dot_00 - object + Mug_bar__minus_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_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_77_bar__plus_01_dot_43_bar__plus_00_dot_44 - object + PepperShaker_bar__minus_02_dot_93_bar__plus_01_dot_43_bar__plus_00_dot_71 - object + PepperShaker_bar__minus_02_dot_93_bar__plus_01_dot_43_bar__plus_01_dot_37 - object + Plate_bar__minus_01_dot_41_bar__plus_00_dot_13_bar__plus_00_dot_36 - object + Plate_bar__minus_02_dot_06_bar__plus_00_dot_13_bar__plus_00_dot_36 - object + Plate_bar__minus_02_dot_67_bar__plus_01_dot_15_bar__plus_02_dot_13 - object + Potato_bar__minus_02_dot_62_bar__plus_00_dot_86_bar__plus_01_dot_96 - object + Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10 - object + SaltShaker_bar__minus_01_dot_21_bar__plus_00_dot_82_bar__plus_00_dot_05 - object + SaltShaker_bar__minus_02_dot_96_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_26_bar__plus_00_dot_05_bar__plus_02_dot_61 - object + SoapBottle_bar__minus_00_dot_40_bar__plus_00_dot_05_bar__plus_02_dot_61 - object + SoapBottle_bar__minus_02_dot_75_bar__plus_01_dot_43_bar__plus_00_dot_26 - 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_20 - object + Spatula_bar__minus_02_dot_66_bar__plus_00_dot_84_bar__plus_00_dot_87 - object + Spoon_bar__minus_00_dot_83_bar__plus_00_dot_71_bar__plus_00_dot_38 - object + Spoon_bar__minus_01_dot_97_bar__plus_00_dot_70_bar__plus_00_dot_30 - object + StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_01_dot_61 - object + StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_01_dot_77 - object + StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_02_dot_02 - object + StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_02_dot_17 - object + Tomato_bar__minus_00_dot_09_bar__plus_00_dot_87_bar__plus_01_dot_21 - object + Tomato_bar__minus_02_dot_67_bar__plus_01_dot_18_bar__plus_02_dot_37 - 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_4_bar_10_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 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 Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_83 CabinetType) + (receptacleType StoveBurner_bar__minus_00_dot_52_bar__plus_00_dot_82_bar__plus_01_dot_68 StoveBurnerType) + (receptacleType Toaster_bar__minus_00_dot_17_bar__plus_00_dot_81_bar__plus_00_dot_74 ToasterType) 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Mug_bar__minus_00_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_37) + (isReceptacleObject Cup_bar__minus_02_dot_73_bar__plus_00_dot_83_bar__plus_02_dot_05) + (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 Plate_bar__minus_01_dot_41_bar__plus_00_dot_13_bar__plus_00_dot_36) + (isReceptacleObject Cup_bar__minus_02_dot_62_bar__plus_01_dot_85_bar__plus_02_dot_26) + (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_4_bar_10_bar_0_bar_30) + + (cleanable Tomato_bar__minus_02_dot_67_bar__plus_01_dot_18_bar__plus_02_dot_37) + (cleanable Spoon_bar__minus_01_dot_97_bar__plus_00_dot_70_bar__plus_00_dot_30) + (cleanable Apple_bar__minus_02_dot_78_bar__plus_01_dot_52_bar__plus_01_dot_96) + (cleanable Spatula_bar__minus_00_dot_34_bar__plus_00_dot_70_bar__plus_01_dot_19) + (cleanable Egg_bar__minus_01_dot_86_bar__plus_00_dot_72_bar__plus_00_dot_38) + (cleanable Spatula_bar__minus_02_dot_66_bar__plus_00_dot_84_bar__plus_00_dot_87) + (cleanable Egg_bar__minus_02_dot_38_bar__plus_00_dot_85_bar__plus_00_dot_35) + (cleanable Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08) + (cleanable DishSponge_bar__minus_02_dot_84_bar__plus_00_dot_82_bar__plus_00_dot_43) + (cleanable Lettuce_bar__minus_02_dot_78_bar__plus_01_dot_53_bar__plus_02_dot_22) + (cleanable Lettuce_bar__minus_01_dot_84_bar__plus_00_dot_74_bar__plus_00_dot_24) + (cleanable Cup_bar__minus_02_dot_67_bar__plus_00_dot_83_bar__plus_02_dot_22) + (cleanable Plate_bar__minus_02_dot_06_bar__plus_00_dot_13_bar__plus_00_dot_36) + (cleanable Spatula_bar__minus_02_dot_49_bar__plus_00_dot_84_bar__plus_00_dot_20) + (cleanable Bowl_bar__minus_00_dot_40_bar__plus_00_dot_12_bar__plus_00_dot_91) + (cleanable Tomato_bar__minus_00_dot_09_bar__plus_00_dot_87_bar__plus_01_dot_21) + (cleanable DishSponge_bar__minus_00_dot_36_bar__plus_00_dot_70_bar__plus_00_dot_84) + (cleanable Bowl_bar__minus_02_dot_57_bar__plus_00_dot_12_bar__plus_01_dot_55) + (cleanable Knife_bar__minus_02_dot_84_bar__plus_00_dot_85_bar__plus_00_dot_28) + (cleanable Plate_bar__minus_02_dot_67_bar__plus_01_dot_15_bar__plus_02_dot_13) + (cleanable Mug_bar__minus_00_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_37) + (cleanable Fork_bar__minus_02_dot_63_bar__plus_00_dot_69_bar__plus_01_dot_47) + (cleanable DishSponge_bar__minus_01_dot_64_bar__plus_00_dot_12_bar__plus_00_dot_44) + (cleanable Cup_bar__minus_02_dot_73_bar__plus_00_dot_83_bar__plus_02_dot_05) + (cleanable Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_01_dot_68) + (cleanable ButterKnife_bar__minus_02_dot_66_bar__plus_00_dot_82_bar__plus_00_dot_79) + (cleanable Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10) + (cleanable Knife_bar__minus_01_dot_54_bar__plus_00_dot_85_bar__plus_00_dot_50) + (cleanable Ladle_bar__minus_02_dot_54_bar__plus_01_dot_89_bar__plus_01_dot_98) + (cleanable Plate_bar__minus_01_dot_41_bar__plus_00_dot_13_bar__plus_00_dot_36) + (cleanable Cup_bar__minus_02_dot_62_bar__plus_01_dot_85_bar__plus_02_dot_26) + (cleanable Apple_bar__minus_02_dot_78_bar__plus_00_dot_99_bar__plus_01_dot_23) + (cleanable Egg_bar__minus_01_dot_52_bar__plus_00_dot_72_bar__plus_00_dot_21) + (cleanable Potato_bar__minus_02_dot_62_bar__plus_00_dot_86_bar__plus_01_dot_96) + (cleanable Spoon_bar__minus_00_dot_83_bar__plus_00_dot_71_bar__plus_00_dot_38) + (cleanable Fork_bar__minus_01_dot_88_bar__plus_00_dot_82_bar__plus_00_dot_54) + + (heatable Tomato_bar__minus_02_dot_67_bar__plus_01_dot_18_bar__plus_02_dot_37) + (heatable Apple_bar__minus_02_dot_78_bar__plus_01_dot_52_bar__plus_01_dot_96) + (heatable Egg_bar__minus_01_dot_86_bar__plus_00_dot_72_bar__plus_00_dot_38) + (heatable Egg_bar__minus_02_dot_38_bar__plus_00_dot_85_bar__plus_00_dot_35) + (heatable Cup_bar__minus_02_dot_67_bar__plus_00_dot_83_bar__plus_02_dot_22) + (heatable Plate_bar__minus_02_dot_06_bar__plus_00_dot_13_bar__plus_00_dot_36) + (heatable Tomato_bar__minus_00_dot_09_bar__plus_00_dot_87_bar__plus_01_dot_21) + (heatable Plate_bar__minus_02_dot_67_bar__plus_01_dot_15_bar__plus_02_dot_13) + (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_73_bar__plus_00_dot_83_bar__plus_02_dot_05) + (heatable Plate_bar__minus_01_dot_41_bar__plus_00_dot_13_bar__plus_00_dot_36) + (heatable Cup_bar__minus_02_dot_62_bar__plus_01_dot_85_bar__plus_02_dot_26) + (heatable Apple_bar__minus_02_dot_78_bar__plus_00_dot_99_bar__plus_01_dot_23) + (heatable Egg_bar__minus_01_dot_52_bar__plus_00_dot_72_bar__plus_00_dot_21) + (heatable Potato_bar__minus_02_dot_62_bar__plus_00_dot_86_bar__plus_01_dot_96) + (coolable Tomato_bar__minus_02_dot_67_bar__plus_01_dot_18_bar__plus_02_dot_37) + (coolable Apple_bar__minus_02_dot_78_bar__plus_01_dot_52_bar__plus_01_dot_96) + (coolable Egg_bar__minus_01_dot_86_bar__plus_00_dot_72_bar__plus_00_dot_38) + (coolable Egg_bar__minus_02_dot_38_bar__plus_00_dot_85_bar__plus_00_dot_35) + (coolable Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08) + (coolable Lettuce_bar__minus_02_dot_78_bar__plus_01_dot_53_bar__plus_02_dot_22) + (coolable Lettuce_bar__minus_01_dot_84_bar__plus_00_dot_74_bar__plus_00_dot_24) + (coolable Cup_bar__minus_02_dot_67_bar__plus_00_dot_83_bar__plus_02_dot_22) + (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 Tomato_bar__minus_00_dot_09_bar__plus_00_dot_87_bar__plus_01_dot_21) + (coolable Bowl_bar__minus_02_dot_57_bar__plus_00_dot_12_bar__plus_01_dot_55) + (coolable Plate_bar__minus_02_dot_67_bar__plus_01_dot_15_bar__plus_02_dot_13) + (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 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 Plate_bar__minus_01_dot_41_bar__plus_00_dot_13_bar__plus_00_dot_36) + (coolable Cup_bar__minus_02_dot_62_bar__plus_01_dot_85_bar__plus_02_dot_26) + (coolable Apple_bar__minus_02_dot_78_bar__plus_00_dot_99_bar__plus_01_dot_23) + (coolable Egg_bar__minus_01_dot_52_bar__plus_00_dot_72_bar__plus_00_dot_21) + (coolable Potato_bar__minus_02_dot_62_bar__plus_00_dot_86_bar__plus_01_dot_96) + + + + + + (sliceable Tomato_bar__minus_02_dot_67_bar__plus_01_dot_18_bar__plus_02_dot_37) + (sliceable Apple_bar__minus_02_dot_78_bar__plus_01_dot_52_bar__plus_01_dot_96) + (sliceable Egg_bar__minus_01_dot_86_bar__plus_00_dot_72_bar__plus_00_dot_38) + (sliceable Egg_bar__minus_02_dot_38_bar__plus_00_dot_85_bar__plus_00_dot_35) + (sliceable Lettuce_bar__minus_02_dot_78_bar__plus_01_dot_53_bar__plus_02_dot_22) + (sliceable Lettuce_bar__minus_01_dot_84_bar__plus_00_dot_74_bar__plus_00_dot_24) + (sliceable Tomato_bar__minus_00_dot_09_bar__plus_00_dot_87_bar__plus_01_dot_21) + (sliceable Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25) + (sliceable Apple_bar__minus_02_dot_78_bar__plus_00_dot_99_bar__plus_01_dot_23) + (sliceable Egg_bar__minus_01_dot_52_bar__plus_00_dot_72_bar__plus_00_dot_21) + (sliceable Potato_bar__minus_02_dot_62_bar__plus_00_dot_86_bar__plus_01_dot_96) + + (inReceptacle Ladle_bar__minus_02_dot_54_bar__plus_01_dot_89_bar__plus_01_dot_98 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 SaltShaker_bar__minus_02_dot_96_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_02_dot_84_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 SaltShaker_bar__minus_01_dot_21_bar__plus_00_dot_82_bar__plus_00_dot_05 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Knife_bar__minus_02_dot_84_bar__plus_00_dot_85_bar__plus_00_dot_28 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Spatula_bar__minus_02_dot_66_bar__plus_00_dot_84_bar__plus_00_dot_87 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 Spatula_bar__minus_02_dot_49_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 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 Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_01_dot_68 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle ButterKnife_bar__minus_02_dot_66_bar__plus_00_dot_82_bar__plus_00_dot_79 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Tomato_bar__minus_00_dot_09_bar__plus_00_dot_87_bar__plus_01_dot_21 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 Egg_bar__minus_02_dot_38_bar__plus_00_dot_85_bar__plus_00_dot_35 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle 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_83_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 Fork_bar__minus_02_dot_63_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_77_bar__plus_01_dot_43_bar__plus_00_dot_44 Cabinet_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__plus_00_dot_51) + (inReceptacle SoapBottle_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 PepperShaker_bar__minus_02_dot_93_bar__plus_01_dot_43_bar__plus_01_dot_37 Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_83) + (inReceptacle PepperShaker_bar__minus_02_dot_93_bar__plus_01_dot_43_bar__plus_00_dot_71 Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_82) + (inReceptacle Cup_bar__minus_02_dot_62_bar__plus_01_dot_85_bar__plus_02_dot_26 Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_58) + (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 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 DishSponge_bar__minus_01_dot_64_bar__plus_00_dot_12_bar__plus_00_dot_44 Cabinet_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_56) + (inReceptacle Plate_bar__minus_01_dot_41_bar__plus_00_dot_13_bar__plus_00_dot_36 Cabinet_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_56) + (inReceptacle 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_18_bar__plus_02_dot_37 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_22 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_01_dot_15_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_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_22 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 Potato_bar__minus_02_dot_62_bar__plus_00_dot_86_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_78_bar__plus_00_dot_99_bar__plus_01_dot_23 Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35) + (inReceptacle SoapBottle_bar__minus_00_dot_40_bar__plus_00_dot_05_bar__plus_02_dot_61 GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_61) + (inReceptacle SoapBottle_bar__minus_00_dot_26_bar__plus_00_dot_05_bar__plus_02_dot_61 GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_61) + (inReceptacle Knife_bar__minus_01_dot_54_bar__plus_00_dot_85_bar__plus_00_dot_50 Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34_bar_SinkBasin) + (inReceptacle Spoon_bar__minus_01_dot_97_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 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loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Spoon_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 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) + (exists (?o - object) + (and + (coolable ?o) + (objectType ?o EggType) + (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-Egg-None-SinkBasin-25/trial_T20190909_105152_779771/traj_data.json b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-SinkBasin-25/trial_T20190909_105152_779771/traj_data.json new file mode 100644 index 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egg in the right sink. ", + "Turn around and go to the refrigerator. ", + "Chill the egg in the refrigerator and remove it.", + "Turn left and go back to the sink.", + "Place the egg in the left sink. " + ], + "task_desc": "Put the chilled egg in the sink.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1ELPYAFO7MANS_3ZQIG0FLQH765JGBGHCEC1GL395VWZ", + "high_descs": [ + "Turn around and walk to the sink.", + "Pick up the egg in the right basin of the sink.", + "Turn around and veer left to the fridge.", + "Place the egg in the fridge, to the right of the rightmost glass. Close the door, wait a moment, and take it out again.", + "Turn left and walk back to the sink.", + "Place the egg in the left sink, in front and to the left of the other egg." + ], + "task_desc": "Place a chilled egg in a 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-Mug-None-Shelf-1/trial_T20190908_073555_430020/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Mug-None-Shelf-1/trial_T20190908_073555_430020/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..24b315ea7af940f4fe815870cbaf81854d52bf04 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Mug-None-Shelf-1/trial_T20190908_073555_430020/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 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_073555_430020)\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_98_bar__plus_01_dot_36_bar__plus_01_dot_34 - object\n Book_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__plus_00_dot_50 - object\n Bowl_bar__plus_00_dot_22_bar__plus_01_dot_11_bar_00_dot_00 - object\n Bowl_bar__minus_01_dot_81_bar__plus_00_dot_13_bar__plus_00_dot_20 - object\n Bread_bar__plus_00_dot_08_bar__plus_01_dot_18_bar__minus_00_dot_25 - object\n Bread_bar__plus_00_dot_08_bar__plus_01_dot_18_bar__minus_00_dot_51 - object\n ButterKnife_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__plus_00_dot_25 - object\n ButterKnife_bar__minus_00_dot_34_bar__plus_01_dot_11_bar__plus_00_dot_25 - object\n ButterKnife_bar__minus_00_dot_34_bar__plus_01_dot_11_bar__minus_00_dot_51 - object\n Chair_bar__plus_00_dot_62_bar__plus_00_dot_73_bar__minus_00_dot_51 - object\n Chair_bar__plus_00_dot_67_bar__plus_00_dot_73_bar__plus_00_dot_56 - object\n CreditCard_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__minus_00_dot_76 - object\n CreditCard_bar__minus_01_dot_70_bar__plus_00_dot_15_bar__minus_00_dot_29 - object\n Cup_bar__minus_00_dot_90_bar__plus_01_dot_65_bar__minus_02_dot_60 - object\n Cup_bar__minus_01_dot_74_bar__plus_00_dot_77_bar__minus_01_dot_59 - object\n DishSponge_bar__plus_00_dot_95_bar__plus_00_dot_65_bar__minus_02_dot_33 - object\n DishSponge_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__minus_01_dot_67 - object\n Egg_bar__minus_01_dot_61_bar__plus_00_dot_95_bar__minus_00_dot_70 - object\n Egg_bar__minus_01_dot_85_bar__plus_00_dot_80_bar__minus_01_dot_33 - object\n Faucet_bar__minus_02_dot_07_bar__plus_01_dot_13_bar__minus_01_dot_51 - object\n Fork_bar__plus_01_dot_01_bar__plus_00_dot_65_bar__minus_02_dot_33 - object\n Glassbottle_bar__plus_01_dot_89_bar__plus_00_dot_88_bar__minus_02_dot_56 - object\n Glassbottle_bar__minus_01_dot_91_bar__plus_00_dot_77_bar__minus_01_dot_41 - object\n Glassbottle_bar__minus_02_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_41 - object\n HousePlant_bar__minus_01_dot_95_bar__plus_00_dot_90_bar__minus_02_dot_52 - object\n Kettle_bar__plus_00_dot_36_bar__plus_01_dot_11_bar__minus_00_dot_25 - object\n Knife_bar__minus_01_dot_85_bar__plus_00_dot_80_bar__minus_01_dot_24 - object\n Lettuce_bar__plus_01_dot_10_bar__plus_00_dot_99_bar__minus_02_dot_33 - 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_20_bar__plus_01_dot_11_bar__minus_00_dot_25 - object\n Mug_bar__minus_01_dot_30_bar__plus_00_dot_13_bar__minus_02_dot_30 - 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__minus_01_dot_96_bar__plus_00_dot_15_bar__plus_02_dot_17 - object\n PepperShaker_bar__minus_01_dot_59_bar__plus_00_dot_91_bar__minus_01_dot_31 - object\n Plate_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__minus_00_dot_76 - object\n Plate_bar__minus_02_dot_08_bar__plus_01_dot_50_bar__plus_01_dot_26 - object\n Potato_bar__plus_00_dot_36_bar__plus_01_dot_14_bar__minus_00_dot_76 - object\n Potato_bar__minus_01_dot_73_bar__plus_00_dot_94_bar__minus_02_dot_33 - object\n Potato_bar__minus_02_dot_11_bar__plus_01_dot_34_bar__plus_01_dot_18 - 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_58 - object\n SaltShaker_bar__plus_00_dot_08_bar__plus_01_dot_11_bar_00_dot_00 - object\n SaltShaker_bar__minus_01_dot_78_bar__plus_00_dot_47_bar__minus_00_dot_10 - object\n SaltShaker_bar__minus_02_dot_10_bar__plus_00_dot_91_bar__minus_02_dot_59 - 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_01_bar__plus_01_dot_66_bar__minus_02_dot_64 - object\n SoapBottle_bar__minus_01_dot_30_bar__plus_00_dot_14_bar__minus_02_dot_50 - object\n SoapBottle_bar__minus_01_dot_88_bar__plus_00_dot_05_bar__plus_02_dot_12 - object\n Spatula_bar__plus_00_dot_97_bar__plus_00_dot_93_bar__minus_02_dot_56 - object\n Spatula_bar__minus_01_dot_82_bar__plus_00_dot_49_bar__minus_00_dot_25 - object\n Spatula_bar__minus_02_dot_02_bar__plus_00_dot_78_bar__minus_01_dot_59 - object\n Spoon_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_41 - object\n Statue_bar__minus_00_dot_34_bar__plus_01_dot_11_bar__minus_00_dot_76 - object\n Statue_bar__minus_00_dot_47_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__minus_00_dot_34_bar__plus_01_dot_15_bar_00_dot_00 - object\n Tomato_bar__minus_01_dot_96_bar__plus_00_dot_81_bar__minus_01_dot_67 - object\n Tomato_bar__minus_02_dot_04_bar__plus_00_dot_58_bar__plus_01_dot_09 - object\n Vase_bar__plus_02_dot_04_bar__plus_00_dot_54_bar__minus_02_dot_50 - object\n Vase_bar__minus_01_dot_10_bar__plus_00_dot_13_bar__minus_02_dot_45 - 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_62_bar__plus_01_dot_66_bar__minus_02_dot_53 - object\n WineBottle_bar__minus_01_dot_94_bar__plus_00_dot_05_bar__plus_02_dot_03 - 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__minus_5_bar__minus_5_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_4_bar__minus_4_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 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 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Potato_bar__minus_01_dot_73_bar__plus_00_dot_94_bar__minus_02_dot_33)\n (coolable Tomato_bar__minus_00_dot_34_bar__plus_01_dot_15_bar_00_dot_00)\n (coolable Potato_bar__minus_02_dot_11_bar__plus_01_dot_34_bar__plus_01_dot_18)\n (coolable Tomato_bar__minus_01_dot_96_bar__plus_00_dot_81_bar__minus_01_dot_67)\n (coolable Pot_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_58)\n (coolable Egg_bar__minus_01_dot_85_bar__plus_00_dot_80_bar__minus_01_dot_33)\n \n \n \n \n \n (sliceable Bread_bar__plus_00_dot_08_bar__plus_01_dot_18_bar__minus_00_dot_51)\n (sliceable Bread_bar__plus_00_dot_08_bar__plus_01_dot_18_bar__minus_00_dot_25)\n (sliceable Lettuce_bar__plus_01_dot_10_bar__plus_00_dot_99_bar__minus_02_dot_33)\n (sliceable Egg_bar__minus_01_dot_61_bar__plus_00_dot_95_bar__minus_00_dot_70)\n (sliceable Apple_bar__minus_01_dot_98_bar__plus_01_dot_36_bar__plus_01_dot_34)\n (sliceable Tomato_bar__minus_02_dot_04_bar__plus_00_dot_58_bar__plus_01_dot_09)\n (sliceable Potato_bar__plus_00_dot_36_bar__plus_01_dot_14_bar__minus_00_dot_76)\n (sliceable Potato_bar__minus_01_dot_73_bar__plus_00_dot_94_bar__minus_02_dot_33)\n (sliceable Tomato_bar__minus_00_dot_34_bar__plus_01_dot_15_bar_00_dot_00)\n (sliceable Potato_bar__minus_02_dot_11_bar__plus_01_dot_34_bar__plus_01_dot_18)\n (sliceable Tomato_bar__minus_01_dot_96_bar__plus_00_dot_81_bar__minus_01_dot_67)\n (sliceable Egg_bar__minus_01_dot_85_bar__plus_00_dot_80_bar__minus_01_dot_33)\n \n (inReceptacle Potato_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 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)\n (inReceptacle Statue_bar__minus_00_dot_47_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 Bread_bar__plus_00_dot_08_bar__plus_01_dot_18_bar__minus_00_dot_25 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Book_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 CreditCard_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__minus_00_dot_76 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Statue_bar__minus_00_dot_34_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 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 Bread_bar__plus_00_dot_08_bar__plus_01_dot_18_bar__minus_00_dot_51 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle ButterKnife_bar__minus_00_dot_34_bar__plus_01_dot_11_bar__plus_00_dot_25 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Bowl_bar__plus_00_dot_22_bar__plus_01_dot_11_bar_00_dot_00 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle ButterKnife_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 Kettle_bar__plus_00_dot_36_bar__plus_01_dot_11_bar__minus_00_dot_25 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle SaltShaker_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 Plate_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 ButterKnife_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 Spatula_bar__plus_00_dot_97_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 Spoon_bar__plus_00_dot_58_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 Lettuce_bar__plus_01_dot_10_bar__plus_00_dot_99_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 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 DishSponge_bar__plus_00_dot_95_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 Fork_bar__plus_01_dot_01_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 Bowl_bar__minus_01_dot_81_bar__plus_00_dot_13_bar__plus_00_dot_20 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 SoapBottle_bar__minus_01_dot_01_bar__plus_01_dot_66_bar__minus_02_dot_64 Cabinet_bar__minus_00_dot_73_bar__plus_02_dot_02_bar__minus_02_dot_46)\n (inReceptacle Cup_bar__minus_00_dot_90_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)\n (inReceptacle SaltShaker_bar__minus_01_dot_78_bar__plus_00_dot_47_bar__minus_00_dot_10 Drawer_bar__minus_01_dot_56_bar__plus_00_dot_66_bar__minus_00_dot_20)\n (inReceptacle Spatula_bar__minus_01_dot_82_bar__plus_00_dot_49_bar__minus_00_dot_25 Drawer_bar__minus_01_dot_56_bar__plus_00_dot_66_bar__minus_00_dot_20)\n (inReceptacle SoapBottle_bar__minus_01_dot_30_bar__plus_00_dot_14_bar__minus_02_dot_50 Cabinet_bar__minus_01_dot_18_bar__plus_00_dot_50_bar__minus_02_dot_20)\n (inReceptacle Mug_bar__minus_01_dot_30_bar__plus_00_dot_13_bar__minus_02_dot_30 Cabinet_bar__minus_01_dot_18_bar__plus_00_dot_50_bar__minus_02_dot_20)\n (inReceptacle Vase_bar__minus_01_dot_10_bar__plus_00_dot_13_bar__minus_02_dot_45 Cabinet_bar__minus_01_dot_18_bar__plus_00_dot_50_bar__minus_02_dot_20)\n (inReceptacle CreditCard_bar__minus_01_dot_70_bar__plus_00_dot_15_bar__minus_00_dot_29 Drawer_bar__minus_01_dot_56_bar__plus_00_dot_33_bar__minus_00_dot_20)\n (inReceptacle WineBottle_bar__plus_00_dot_62_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)\n (inReceptacle Potato_bar__minus_01_dot_73_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 PepperShaker_bar__minus_01_dot_59_bar__plus_00_dot_91_bar__minus_01_dot_31 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle HousePlant_bar__minus_01_dot_95_bar__plus_00_dot_90_bar__minus_02_dot_52 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle SaltShaker_bar__minus_02_dot_10_bar__plus_00_dot_91_bar__minus_02_dot_59 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Egg_bar__minus_01_dot_61_bar__plus_00_dot_95_bar__minus_00_dot_70 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 Glassbottle_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 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 Spoon_bar__plus_00_dot_58_bar__plus_00_dot_91_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_03 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__plus_02_dot_03)\n (inReceptacle PaperTowelRoll_bar__minus_01_dot_96_bar__plus_00_dot_15_bar__plus_02_dot_17 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__plus_02_dot_03)\n (inReceptacle SoapBottle_bar__minus_01_dot_88_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 Tomato_bar__minus_02_dot_04_bar__plus_00_dot_58_bar__plus_01_dot_09 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle Plate_bar__minus_02_dot_08_bar__plus_01_dot_50_bar__plus_01_dot_26 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle Potato_bar__minus_02_dot_11_bar__plus_01_dot_34_bar__plus_01_dot_18 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle Apple_bar__minus_01_dot_98_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 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 Glassbottle_bar__minus_02_dot_02_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 Glassbottle_bar__minus_01_dot_91_bar__plus_00_dot_77_bar__minus_01_dot_41 Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin)\n (inReceptacle Tomato_bar__minus_01_dot_96_bar__plus_00_dot_81_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 DishSponge_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__minus_01_dot_67 Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin)\n (inReceptacle Cup_bar__minus_01_dot_74_bar__plus_00_dot_77_bar__minus_01_dot_59 Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin)\n (inReceptacle Egg_bar__minus_01_dot_85_bar__plus_00_dot_80_bar__minus_01_dot_33 Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin)\n (inReceptacle Spatula_bar__minus_02_dot_02_bar__plus_00_dot_78_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_01_dot_30_bar__plus_00_dot_13_bar__minus_02_dot_30 loc_bar__minus_5_bar__minus_5_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__plus_00_dot_95_bar__plus_00_dot_65_bar__minus_02_dot_33 loc_bar_7_bar__minus_7_bar_3_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_34_bar__plus_01_dot_11_bar__plus_00_dot_25 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation SaltShaker_bar__minus_01_dot_78_bar__plus_00_dot_47_bar__minus_00_dot_10 loc_bar__minus_5_bar__minus_1_bar_3_bar_60)\n (objectAtLocation Bowl_bar__plus_00_dot_22_bar__plus_01_dot_11_bar_00_dot_00 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Cup_bar__minus_01_dot_74_bar__plus_00_dot_77_bar__minus_01_dot_59 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Spatula_bar__minus_01_dot_82_bar__plus_00_dot_49_bar__minus_00_dot_25 loc_bar__minus_5_bar__minus_1_bar_3_bar_60)\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 WineBottle_bar__plus_00_dot_62_bar__plus_01_dot_66_bar__minus_02_dot_53 loc_bar_2_bar__minus_7_bar_2_bar__minus_30)\n (objectAtLocation Statue_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 CreditCard_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__minus_00_dot_76 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Egg_bar__minus_01_dot_85_bar__plus_00_dot_80_bar__minus_01_dot_33 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\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_06_bar__plus_01_dot_11_bar__minus_00_dot_76 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation SoapBottle_bar__minus_01_dot_01_bar__plus_01_dot_66_bar__minus_02_dot_64 loc_bar__minus_4_bar__minus_7_bar_2_bar__minus_30)\n (objectAtLocation Potato_bar__minus_01_dot_73_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__plus_00_dot_08_bar__plus_01_dot_18_bar__minus_00_dot_25 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Glassbottle_bar__minus_02_dot_02_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_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 ButterKnife_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 Spatula_bar__plus_00_dot_97_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_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 SaltShaker_bar__minus_02_dot_10_bar__plus_00_dot_91_bar__minus_02_dot_59 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_30_bar__plus_00_dot_14_bar__minus_02_dot_50 loc_bar__minus_5_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Tomato_bar__minus_02_dot_04_bar__plus_00_dot_58_bar__plus_01_dot_09 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation Potato_bar__minus_02_dot_11_bar__plus_01_dot_34_bar__plus_01_dot_18 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_02_bar__plus_00_dot_88_bar__minus_02_dot_19 loc_bar_0_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_02_dot_23_bar__plus_01_dot_43_bar__minus_01_dot_20 loc_bar__minus_5_bar__minus_5_bar_3_bar_15)\n (objectAtLocation StoveKnob_bar__minus_00_dot_48_bar__plus_00_dot_88_bar__minus_02_dot_19 loc_bar__minus_2_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50 loc_bar__minus_5_bar__minus_6_bar_3_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_33_bar__plus_00_dot_88_bar__minus_02_dot_19 loc_bar__minus_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_18_bar__plus_00_dot_88_bar__minus_02_dot_19 loc_bar__minus_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Book_bar__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_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_91_bar__plus_00_dot_77_bar__minus_01_dot_41 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Knife_bar__minus_01_dot_85_bar__plus_00_dot_80_bar__minus_01_dot_24 loc_bar__minus_5_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Bread_bar__plus_00_dot_08_bar__plus_01_dot_18_bar__minus_00_dot_51 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Fork_bar__plus_01_dot_01_bar__plus_00_dot_65_bar__minus_02_dot_33 loc_bar_7_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Potato_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 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_88_bar__plus_00_dot_05_bar__plus_02_dot_12 loc_bar__minus_5_bar_7_bar_3_bar_60)\n (objectAtLocation Kettle_bar__plus_00_dot_36_bar__plus_01_dot_11_bar__minus_00_dot_25 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation 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_02_dot_08_bar__plus_01_dot_50_bar__plus_01_dot_26 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation Tomato_bar__minus_01_dot_96_bar__plus_00_dot_81_bar__minus_01_dot_67 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_01_dot_61_bar__plus_00_dot_95_bar__minus_00_dot_70 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation CreditCard_bar__minus_01_dot_70_bar__plus_00_dot_15_bar__minus_00_dot_29 loc_bar__minus_4_bar_3_bar_2_bar_60)\n (objectAtLocation Statue_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__minus_00_dot_25 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__minus_01_dot_94_bar__plus_00_dot_05_bar__plus_02_dot_03 loc_bar__minus_5_bar_7_bar_3_bar_60)\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_02_dot_02_bar__plus_00_dot_78_bar__minus_01_dot_59 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation PaperTowelRoll_bar__minus_01_dot_96_bar__plus_00_dot_15_bar__plus_02_dot_17 loc_bar__minus_5_bar_7_bar_3_bar_60)\n (objectAtLocation Cup_bar__minus_00_dot_90_bar__plus_01_dot_65_bar__minus_02_dot_60 loc_bar__minus_4_bar__minus_7_bar_2_bar__minus_30)\n (objectAtLocation Vase_bar__minus_01_dot_10_bar__plus_00_dot_13_bar__minus_02_dot_45 loc_bar__minus_5_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Bowl_bar__minus_01_dot_81_bar__plus_00_dot_13_bar__plus_00_dot_20 loc_bar__minus_4_bar_2_bar_3_bar_60)\n (objectAtLocation SaltShaker_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 PepperShaker_bar__minus_01_dot_59_bar__plus_00_dot_91_bar__minus_01_dot_31 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Lettuce_bar__plus_01_dot_10_bar__plus_00_dot_99_bar__minus_02_dot_33 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation ButterKnife_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 Apple_bar__minus_01_dot_98_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_01_dot_80_bar__plus_00_dot_77_bar__minus_01_dot_67 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Spoon_bar__plus_00_dot_58_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_00_dot_20_bar__plus_01_dot_11_bar__minus_00_dot_25 loc_bar_3_bar_0_bar_3_bar_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (coolable ?o)\n (objectType ?o MugType)\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 mug 3 from countertop 3", "go to fridge 1", "cool mug 3 with fridge 1", "go to shelf 2", "move mug 3 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-Mug-None-Shelf-1/trial_T20190908_073555_430020/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Mug-None-Shelf-1/trial_T20190908_073555_430020/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..8d1539df31d32f9200421c12531435d000e477e1 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Mug-None-Shelf-1/trial_T20190908_073555_430020/initial_state.pddl @@ -0,0 +1,1240 @@ + +(define (problem plan_trial_T20190908_073555_430020) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_98_bar__plus_01_dot_36_bar__plus_01_dot_34 - object + Book_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__plus_00_dot_50 - object + Bowl_bar__plus_00_dot_22_bar__plus_01_dot_11_bar_00_dot_00 - object + Bowl_bar__minus_01_dot_81_bar__plus_00_dot_13_bar__plus_00_dot_20 - object + Bread_bar__plus_00_dot_08_bar__plus_01_dot_18_bar__minus_00_dot_25 - object + Bread_bar__plus_00_dot_08_bar__plus_01_dot_18_bar__minus_00_dot_51 - object + ButterKnife_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__plus_00_dot_25 - object + ButterKnife_bar__minus_00_dot_34_bar__plus_01_dot_11_bar__plus_00_dot_25 - object + ButterKnife_bar__minus_00_dot_34_bar__plus_01_dot_11_bar__minus_00_dot_51 - object + Chair_bar__plus_00_dot_62_bar__plus_00_dot_73_bar__minus_00_dot_51 - object + Chair_bar__plus_00_dot_67_bar__plus_00_dot_73_bar__plus_00_dot_56 - object + CreditCard_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__minus_00_dot_76 - object + CreditCard_bar__minus_01_dot_70_bar__plus_00_dot_15_bar__minus_00_dot_29 - object + Cup_bar__minus_00_dot_90_bar__plus_01_dot_65_bar__minus_02_dot_60 - object + Cup_bar__minus_01_dot_74_bar__plus_00_dot_77_bar__minus_01_dot_59 - object + DishSponge_bar__plus_00_dot_95_bar__plus_00_dot_65_bar__minus_02_dot_33 - object + DishSponge_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__minus_01_dot_67 - object + Egg_bar__minus_01_dot_61_bar__plus_00_dot_95_bar__minus_00_dot_70 - object + Egg_bar__minus_01_dot_85_bar__plus_00_dot_80_bar__minus_01_dot_33 - object + Faucet_bar__minus_02_dot_07_bar__plus_01_dot_13_bar__minus_01_dot_51 - object + Fork_bar__plus_01_dot_01_bar__plus_00_dot_65_bar__minus_02_dot_33 - object + Glassbottle_bar__plus_01_dot_89_bar__plus_00_dot_88_bar__minus_02_dot_56 - object + Glassbottle_bar__minus_01_dot_91_bar__plus_00_dot_77_bar__minus_01_dot_41 - object + Glassbottle_bar__minus_02_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_41 - object + HousePlant_bar__minus_01_dot_95_bar__plus_00_dot_90_bar__minus_02_dot_52 - object + Kettle_bar__plus_00_dot_36_bar__plus_01_dot_11_bar__minus_00_dot_25 - object + Knife_bar__minus_01_dot_85_bar__plus_00_dot_80_bar__minus_01_dot_24 - object + Lettuce_bar__plus_01_dot_10_bar__plus_00_dot_99_bar__minus_02_dot_33 - object + LightSwitch_bar__plus_02_dot_33_bar__plus_01_dot_31_bar__minus_00_dot_16 - object + Mug_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__minus_00_dot_25 - object + Mug_bar__minus_01_dot_30_bar__plus_00_dot_13_bar__minus_02_dot_30 - 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__minus_01_dot_96_bar__plus_00_dot_15_bar__plus_02_dot_17 - object + PepperShaker_bar__minus_01_dot_59_bar__plus_00_dot_91_bar__minus_01_dot_31 - object + Plate_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__minus_00_dot_76 - object + Plate_bar__minus_02_dot_08_bar__plus_01_dot_50_bar__plus_01_dot_26 - object + Potato_bar__plus_00_dot_36_bar__plus_01_dot_14_bar__minus_00_dot_76 - object + Potato_bar__minus_01_dot_73_bar__plus_00_dot_94_bar__minus_02_dot_33 - object + Potato_bar__minus_02_dot_11_bar__plus_01_dot_34_bar__plus_01_dot_18 - object + Pot_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_58 - object + Pot_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_58 - object + SaltShaker_bar__plus_00_dot_08_bar__plus_01_dot_11_bar_00_dot_00 - object + SaltShaker_bar__minus_01_dot_78_bar__plus_00_dot_47_bar__minus_00_dot_10 - object + SaltShaker_bar__minus_02_dot_10_bar__plus_00_dot_91_bar__minus_02_dot_59 - object + Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50 - object + SoapBottle_bar__minus_01_dot_01_bar__plus_01_dot_66_bar__minus_02_dot_64 - object + SoapBottle_bar__minus_01_dot_30_bar__plus_00_dot_14_bar__minus_02_dot_50 - object + SoapBottle_bar__minus_01_dot_88_bar__plus_00_dot_05_bar__plus_02_dot_12 - object + Spatula_bar__plus_00_dot_97_bar__plus_00_dot_93_bar__minus_02_dot_56 - object + Spatula_bar__minus_01_dot_82_bar__plus_00_dot_49_bar__minus_00_dot_25 - object + Spatula_bar__minus_02_dot_02_bar__plus_00_dot_78_bar__minus_01_dot_59 - object + Spoon_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_41 - object + Statue_bar__minus_00_dot_34_bar__plus_01_dot_11_bar__minus_00_dot_76 - object + Statue_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__minus_00_dot_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__minus_00_dot_34_bar__plus_01_dot_15_bar_00_dot_00 - object + Tomato_bar__minus_01_dot_96_bar__plus_00_dot_81_bar__minus_01_dot_67 - object + Tomato_bar__minus_02_dot_04_bar__plus_00_dot_58_bar__plus_01_dot_09 - object + Vase_bar__plus_02_dot_04_bar__plus_00_dot_54_bar__minus_02_dot_50 - object + Vase_bar__minus_01_dot_10_bar__plus_00_dot_13_bar__minus_02_dot_45 - object + Window_bar__minus_02_dot_23_bar__plus_01_dot_43_bar__minus_01_dot_20 - object + 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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__minus_5_bar__minus_5_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__minus_4_bar__minus_4_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) 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loc_bar__minus_5_bar__minus_5_bar_2_bar_45) + (objectAtLocation Bowl_bar__minus_01_dot_81_bar__plus_00_dot_13_bar__plus_00_dot_20 loc_bar__minus_4_bar_2_bar_3_bar_60) + (objectAtLocation SaltShaker_bar__plus_00_dot_08_bar__plus_01_dot_11_bar_00_dot_00 loc_bar_3_bar_0_bar_3_bar_30) + (objectAtLocation PepperShaker_bar__minus_01_dot_59_bar__plus_00_dot_91_bar__minus_01_dot_31 loc_bar__minus_5_bar__minus_7_bar_3_bar_45) + (objectAtLocation Lettuce_bar__plus_01_dot_10_bar__plus_00_dot_99_bar__minus_02_dot_33 loc_bar_3_bar__minus_7_bar_2_bar_45) + (objectAtLocation ButterKnife_bar__minus_00_dot_34_bar__plus_01_dot_11_bar__minus_00_dot_51 loc_bar_3_bar_0_bar_3_bar_30) + (objectAtLocation Apple_bar__minus_01_dot_98_bar__plus_01_dot_36_bar__plus_01_dot_34 loc_bar__minus_4_bar_4_bar_3_bar_60) + (objectAtLocation DishSponge_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__minus_01_dot_67 loc_bar__minus_5_bar__minus_6_bar_3_bar_60) + (objectAtLocation Spoon_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_41 loc_bar_3_bar__minus_7_bar_2_bar_45) + (objectAtLocation LightSwitch_bar__plus_02_dot_33_bar__plus_01_dot_31_bar__minus_00_dot_16 loc_bar_7_bar__minus_1_bar_1_bar_30) + (objectAtLocation Mug_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__minus_00_dot_25 loc_bar_3_bar_0_bar_3_bar_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (coolable ?o) + (objectType ?o MugType) + (receptacleType ?r ShelfType) + (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-Mug-None-Shelf-1/trial_T20190908_073555_430020/traj_data.json b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Mug-None-Shelf-1/trial_T20190908_073555_430020/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..8100d3beb6459d02f9712b4d80e02ad7b1dc74f4 --- /dev/null +++ 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"Spoon_cd066502", + "position": { + "x": 0.582687557, + "y": 0.9118294, + "z": -2.40718341 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_b5db8038", + "position": { + "x": -1.29622293, + "y": 0.132000685, + "z": -2.30182576 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3655890066, + "scene_num": 1 + }, + "task_id": "trial_T20190908_073555_430020", + "task_type": "pick_cool_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1SX8IVV82M0LW_369J354OFGRH8IPC4WB7DKUWY0FG64", + "high_descs": [ + "Go to the kitchen counter to the right of you.", + "Grab the coffee mug that's behind the glove.", + "Walk to the fridge to your left.", + "Place the mug in the fridge, then grab it out of the fridge.", + "Walk to the shelving unit to the left of the kitchen counter.", + "Place the mug on the second shelf from the bottom." + ], + "task_desc": "Cool down a mug for showcasing on a shelf.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AO33H4GL9KZX9_3X1FV8S5J082N84D54JFPCAVFVZGVS", + "high_descs": [ + "Go to the middle of the island and turn right.", + "Pick up the white coffee mug behind the hand shaped decor. ", + "Turn left to go to the refrigerator on the left.", + "Chill the coffee mug on the top shelf in the refrigerator and take it out. ", + "Turn left and left again at the counter and go to the wooden shelf on the opposite side of the kitchen. ", + "Place the coffee mug on the second shelf from the bottom." + ], + "task_desc": "Put the chilled mug on the shelf. ", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3URFVVM168Z21AAIQ6XZEXOICE0ZUR", + "high_descs": [ + "Turn to the right and face the counter near the tomato and white mug.", + "Pick the white mug up from the counter.", + "Go left and then turn left to face the fridge.", + "Put the mug in the fridge, shut the door and then open the door again and pick the mug up again.", + "Go left and then go left again and turn to the right to face the brown shelves.", + "Put the mug down on the right side of the middle shelf." + ], + "task_desc": "Put a chilled mug on a shelf.", + "votes": [ + 1, + 1, + 0 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Mug-None-Shelf-1/trial_T20190908_073714_857737/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Mug-None-Shelf-1/trial_T20190908_073714_857737/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..906dea933b7208b7e66442d5b6b298ad10716eab --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Mug-None-Shelf-1/trial_T20190908_073714_857737/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 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_073714_857737)\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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Apple_bar__plus_00_dot_22_bar__plus_01_dot_16_bar__minus_00_dot_51 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Bread_bar__minus_00_dot_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 Spoon_bar__minus_00_dot_34_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 PaperTowelRoll_bar__plus_00_dot_36_bar__plus_01_dot_22_bar__minus_00_dot_51 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_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_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)\n (inReceptacle Glassbottle_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 Lettuce_bar__plus_00_dot_08_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 Plate_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)\n (inReceptacle Lettuce_bar__plus_00_dot_08_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 Vase_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__minus_00_dot_76 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Book_bar__plus_00_dot_16_bar__plus_01_dot_10_bar__plus_00_dot_62 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Glassbottle_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__plus_00_dot_25 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Knife_bar__minus_00_dot_34_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)\n (inReceptacle Plate_bar__minus_01_dot_76_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 Knife_bar__plus_00_dot_97_bar__plus_00_dot_94_bar__minus_02_dot_64 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48)\n (inReceptacle Plate_bar__plus_01_dot_10_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 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 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 CreditCard_bar__plus_01_dot_06_bar__plus_00_dot_64_bar__minus_02_dot_42 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_71_bar__minus_02_dot_20)\n (inReceptacle Mug_bar__minus_01_dot_67_bar__plus_00_dot_12_bar__plus_00_dot_11 Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__plus_00_dot_38)\n (inReceptacle Fork_bar__plus_00_dot_89_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__minus_01_dot_69_bar__plus_00_dot_48_bar__minus_00_dot_29 Drawer_bar__minus_01_dot_56_bar__plus_00_dot_66_bar__minus_00_dot_20)\n (inReceptacle CreditCard_bar__minus_01_dot_87_bar__plus_00_dot_48_bar__minus_00_dot_25 Drawer_bar__minus_01_dot_56_bar__plus_00_dot_66_bar__minus_00_dot_20)\n (inReceptacle Pot_bar__plus_00_dot_45_bar__plus_00_dot_14_bar__minus_02_dot_39 Cabinet_bar__plus_00_dot_68_bar__plus_00_dot_50_bar__minus_02_dot_20)\n (inReceptacle PepperShaker_bar__minus_01_dot_74_bar__plus_00_dot_15_bar__minus_00_dot_05 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 Spatula_bar__minus_01_dot_86_bar__plus_00_dot_93_bar__minus_02_dot_48 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle ButterKnife_bar__minus_00_dot_85_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)\n (inReceptacle WineBottle_bar__minus_02_dot_10_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 Lettuce_bar__minus_02_dot_02_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 Apple_bar__minus_01_dot_61_bar__plus_00_dot_96_bar__minus_02_dot_26 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Knife_bar__minus_01_dot_44_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 Fork_bar__minus_01_dot_86_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 Cup_bar__minus_00_dot_12_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 Mug_bar__minus_00_dot_12_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_58_bar__plus_00_dot_88_bar__minus_02_dot_59 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_87_bar__minus_02_dot_56)\n (inReceptacle PepperShaker_bar__plus_01_dot_58_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 SaltShaker_bar__plus_01_dot_99_bar__plus_00_dot_88_bar__minus_02_dot_62 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_87_bar__minus_02_dot_56)\n (inReceptacle Cup_bar__plus_01_dot_69_bar__plus_00_dot_88_bar__minus_02_dot_62 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_87_bar__minus_02_dot_56)\n (inReceptacle SoapBottle_bar__plus_01_dot_48_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 CreditCard_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 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 (inReceptacle DishSponge_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 Bowl_bar__minus_02_dot_04_bar__plus_01_dot_50_bar__plus_00_dot_93 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle Potato_bar__minus_02_dot_11_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 Tomato_bar__minus_02_dot_04_bar__plus_00_dot_58_bar__plus_00_dot_92 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_84_bar__plus_01_dot_00 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle Tomato_bar__minus_01_dot_98_bar__plus_01_dot_35_bar__plus_00_dot_93 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle Egg_bar__minus_02_dot_00_bar__plus_00_dot_26_bar__plus_01_dot_25 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle ButterKnife_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 Mug_bar__minus_01_dot_85_bar__plus_00_dot_76_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 Potato_bar__minus_02_dot_02_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 Bowl_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)\n (inReceptacle Potato_bar__minus_01_dot_85_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_96_bar__plus_00_dot_80_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_01_dot_96_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 \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_85_bar__plus_00_dot_76_bar__minus_01_dot_67 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation DishSponge_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 Apple_bar__plus_00_dot_22_bar__plus_01_dot_16_bar__minus_00_dot_51 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation ButterKnife_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 Lettuce_bar__plus_00_dot_08_bar__plus_01_dot_19_bar__plus_00_dot_25 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation PepperShaker_bar__minus_01_dot_74_bar__plus_00_dot_15_bar__minus_00_dot_05 loc_bar__minus_4_bar_3_bar_2_bar_60)\n (objectAtLocation Bowl_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__minus_01_dot_50 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Cup_bar__minus_00_dot_12_bar__plus_01_dot_79_bar__minus_02_dot_61 loc_bar__minus_1_bar__minus_7_bar_2_bar_0)\n (objectAtLocation CreditCard_bar__plus_01_dot_06_bar__plus_00_dot_64_bar__minus_02_dot_42 loc_bar_7_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Egg_bar__minus_02_dot_00_bar__plus_00_dot_26_bar__plus_01_dot_25 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation Tomato_bar__minus_02_dot_04_bar__plus_00_dot_58_bar__plus_00_dot_92 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation Plate_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_02_dot_33 loc_bar_3_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 Potato_bar__minus_02_dot_02_bar__plus_00_dot_80_bar__minus_01_dot_24 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Fork_bar__plus_00_dot_89_bar__plus_00_dot_78_bar__minus_02_dot_42 loc_bar_1_bar__minus_7_bar_1_bar_45)\n (objectAtLocation Knife_bar__minus_01_dot_44_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_00_dot_06_bar__plus_01_dot_11_bar__minus_00_dot_76 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation ButterKnife_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__minus_02_dot_41 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Mug_bar__minus_01_dot_67_bar__plus_00_dot_12_bar__plus_00_dot_11 loc_bar__minus_4_bar_2_bar_3_bar_60)\n (objectAtLocation Mug_bar__minus_01_dot_96_bar__plus_00_dot_76_bar__minus_01_dot_59 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Fork_bar__minus_01_dot_86_bar__plus_00_dot_91_bar__minus_00_dot_51 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_34_bar__plus_01_dot_14_bar__minus_00_dot_51 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Lettuce_bar__minus_02_dot_02_bar__plus_00_dot_99_bar__minus_00_dot_70 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Tomato_bar__minus_02_dot_00_bar__plus_00_dot_84_bar__plus_01_dot_00 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation Cup_bar__plus_01_dot_69_bar__plus_00_dot_88_bar__minus_02_dot_62 loc_bar_7_bar__minus_5_bar_2_bar_30)\n (objectAtLocation Plate_bar__minus_00_dot_34_bar__plus_01_dot_11_bar__plus_00_dot_50 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation CreditCard_bar__minus_01_dot_87_bar__plus_00_dot_48_bar__minus_00_dot_25 loc_bar__minus_5_bar__minus_1_bar_3_bar_60)\n (objectAtLocation Potato_bar__minus_01_dot_85_bar__plus_00_dot_80_bar__minus_01_dot_24 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_02_bar__plus_00_dot_88_bar__minus_02_dot_19 loc_bar_0_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_02_dot_23_bar__plus_01_dot_43_bar__minus_01_dot_20 loc_bar__minus_5_bar__minus_5_bar_3_bar_15)\n (objectAtLocation StoveKnob_bar__minus_00_dot_48_bar__plus_00_dot_88_bar__minus_02_dot_19 loc_bar__minus_2_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50 loc_bar__minus_5_bar__minus_6_bar_3_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_33_bar__plus_00_dot_88_bar__minus_02_dot_19 loc_bar__minus_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_18_bar__plus_00_dot_88_bar__minus_02_dot_19 loc_bar__minus_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Book_bar__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_00_dot_47_bar__plus_01_dot_11_bar__plus_00_dot_25 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Knife_bar__plus_00_dot_97_bar__plus_00_dot_94_bar__minus_02_dot_64 loc_bar_3_bar__minus_7_bar_2_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__plus_00_dot_89_bar__plus_00_dot_48_bar__minus_02_dot_33 loc_bar_2_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Potato_bar__minus_02_dot_11_bar__plus_01_dot_34_bar__plus_01_dot_01 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__plus_01_dot_48_bar__plus_00_dot_55_bar__minus_02_dot_56 loc_bar_5_bar__minus_6_bar_2_bar_45)\n (objectAtLocation Kettle_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_37 loc_bar__minus_2_bar__minus_7_bar_2_bar_45)\n (objectAtLocation 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_74 loc_bar__minus_3_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Tomato_bar__minus_01_dot_98_bar__plus_01_dot_35_bar__plus_00_dot_93 loc_bar__minus_4_bar_4_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_01_dot_96_bar__plus_00_dot_80_bar__minus_01_dot_50 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation CreditCard_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 Statue_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__minus_00_dot_25 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__minus_02_dot_10_bar__plus_00_dot_91_bar__minus_02_dot_26 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Pot_bar__plus_00_dot_45_bar__plus_00_dot_14_bar__minus_02_dot_39 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Spatula_bar__minus_01_dot_86_bar__plus_00_dot_93_bar__minus_02_dot_48 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_51 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Cup_bar__plus_01_dot_58_bar__plus_00_dot_88_bar__minus_02_dot_59 loc_bar_7_bar__minus_5_bar_2_bar_30)\n (objectAtLocation Vase_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__minus_00_dot_76 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Bowl_bar__minus_02_dot_04_bar__plus_01_dot_50_bar__plus_00_dot_93 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__plus_01_dot_99_bar__plus_00_dot_88_bar__minus_02_dot_62 loc_bar_7_bar__minus_5_bar_2_bar_30)\n (objectAtLocation PepperShaker_bar__plus_01_dot_58_bar__plus_00_dot_88_bar__minus_02_dot_51 loc_bar_7_bar__minus_5_bar_2_bar_30)\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__minus_00_dot_06_bar__plus_01_dot_11_bar_00_dot_00 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Apple_bar__minus_01_dot_61_bar__plus_00_dot_96_bar__minus_02_dot_26 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation DishSponge_bar__minus_01_dot_69_bar__plus_00_dot_48_bar__minus_00_dot_29 loc_bar__minus_5_bar__minus_1_bar_3_bar_60)\n (objectAtLocation Spoon_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 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_12_bar__plus_01_dot_79_bar__minus_02_dot_48 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 ShelfType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sinkbasin 1", "take mug 2 from sinkbasin 1", "go to fridge 1", "cool mug 2 with fridge 1", "go to shelf 2", "move mug 2 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-Mug-None-Shelf-1/trial_T20190908_073714_857737/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Mug-None-Shelf-1/trial_T20190908_073714_857737/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..3d009c4ea8cdd6abb9e9958e993b59543f6a257a --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Mug-None-Shelf-1/trial_T20190908_073714_857737/initial_state.pddl @@ -0,0 +1,1269 @@ + +(define (problem plan_trial_T20190908_073714_857737) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_22_bar__plus_01_dot_16_bar__minus_00_dot_51 - object + Apple_bar__minus_01_dot_61_bar__plus_00_dot_96_bar__minus_02_dot_26 - object + Book_bar__plus_00_dot_16_bar__plus_01_dot_10_bar__plus_00_dot_62 - object + Bowl_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__minus_01_dot_50 - object + Bowl_bar__minus_02_dot_04_bar__plus_01_dot_50_bar__plus_00_dot_93 - object + Bread_bar__minus_00_dot_52_bar__plus_01_dot_17_bar__minus_00_dot_03 - object + ButterKnife_bar__minus_00_dot_06_bar__plus_01_dot_11_bar_00_dot_00 - object + ButterKnife_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__minus_02_dot_41 - object + ButterKnife_bar__minus_01_dot_91_bar__plus_00_dot_77_bar__minus_01_dot_33 - 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_06_bar__plus_00_dot_64_bar__minus_02_dot_42 - object + CreditCard_bar__plus_02_dot_10_bar__plus_00_dot_55_bar__minus_02_dot_72 - object + CreditCard_bar__minus_01_dot_87_bar__plus_00_dot_48_bar__minus_00_dot_25 - object + Cup_bar__plus_01_dot_58_bar__plus_00_dot_88_bar__minus_02_dot_59 - object + Cup_bar__plus_01_dot_69_bar__plus_00_dot_88_bar__minus_02_dot_62 - object + Cup_bar__minus_00_dot_12_bar__plus_01_dot_79_bar__minus_02_dot_61 - object + DishSponge_bar__minus_01_dot_69_bar__plus_00_dot_48_bar__minus_00_dot_29 - object + DishSponge_bar__minus_01_dot_91_bar__plus_00_dot_05_bar__plus_01_dot_98 - object + Egg_bar__minus_01_dot_96_bar__plus_00_dot_80_bar__minus_01_dot_50 - object + Egg_bar__minus_02_dot_00_bar__plus_00_dot_26_bar__plus_01_dot_25 - object + Faucet_bar__minus_02_dot_07_bar__plus_01_dot_13_bar__minus_01_dot_51 - object + Fork_bar__plus_00_dot_89_bar__plus_00_dot_48_bar__minus_02_dot_33 - object + Fork_bar__plus_00_dot_89_bar__plus_00_dot_78_bar__minus_02_dot_42 - object + Fork_bar__minus_01_dot_86_bar__plus_00_dot_91_bar__minus_00_dot_51 - object + Glassbottle_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__minus_00_dot_76 - object + Glassbottle_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__plus_00_dot_25 - object + HousePlant_bar__minus_01_dot_95_bar__plus_00_dot_90_bar__minus_02_dot_52 - object + Kettle_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_37 - object + Knife_bar__plus_00_dot_97_bar__plus_00_dot_94_bar__minus_02_dot_64 - object + Knife_bar__minus_00_dot_34_bar__plus_01_dot_14_bar__minus_00_dot_51 - object + Knife_bar__minus_01_dot_44_bar__plus_00_dot_94_bar__minus_02_dot_64 - object + Lettuce_bar__plus_00_dot_08_bar__plus_01_dot_19_bar__plus_00_dot_25 - object + Lettuce_bar__plus_00_dot_08_bar__plus_01_dot_19_bar__minus_00_dot_25 - object + Lettuce_bar__minus_02_dot_02_bar__plus_00_dot_99_bar__minus_00_dot_70 - object + LightSwitch_bar__plus_02_dot_33_bar__plus_01_dot_31_bar__minus_00_dot_16 - object + Mug_bar__minus_00_dot_12_bar__plus_01_dot_79_bar__minus_02_dot_48 - object + Mug_bar__minus_01_dot_67_bar__plus_00_dot_12_bar__plus_00_dot_11 - object + Mug_bar__minus_01_dot_85_bar__plus_00_dot_76_bar__minus_01_dot_67 - object + Mug_bar__minus_01_dot_96_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_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_51 - object + PepperShaker_bar__plus_01_dot_58_bar__plus_00_dot_88_bar__minus_02_dot_51 - object + PepperShaker_bar__minus_01_dot_74_bar__plus_00_dot_15_bar__minus_00_dot_05 - object + Plate_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_02_dot_33 - object + Plate_bar__minus_00_dot_34_bar__plus_01_dot_11_bar__plus_00_dot_50 - object + Plate_bar__minus_01_dot_76_bar__plus_00_dot_13_bar__minus_01_dot_74 - object + Potato_bar__minus_01_dot_85_bar__plus_00_dot_80_bar__minus_01_dot_24 - object + Potato_bar__minus_02_dot_02_bar__plus_00_dot_80_bar__minus_01_dot_24 - object + Potato_bar__minus_02_dot_11_bar__plus_01_dot_34_bar__plus_01_dot_01 - object + Pot_bar__plus_00_dot_45_bar__plus_00_dot_14_bar__minus_02_dot_39 - object + SaltShaker_bar__plus_01_dot_99_bar__plus_00_dot_88_bar__minus_02_dot_62 - object + Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50 - object + SoapBottle_bar__plus_01_dot_48_bar__plus_00_dot_55_bar__minus_02_dot_56 - object + Spatula_bar__minus_01_dot_86_bar__plus_00_dot_93_bar__minus_02_dot_48 - object + Spoon_bar__minus_00_dot_34_bar__plus_01_dot_11_bar__minus_00_dot_76 - object + Statue_bar__minus_00_dot_20_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__minus_01_dot_98_bar__plus_01_dot_35_bar__plus_00_dot_93 - object + Tomato_bar__minus_02_dot_00_bar__plus_00_dot_84_bar__plus_01_dot_00 - object + Tomato_bar__minus_02_dot_04_bar__plus_00_dot_58_bar__plus_00_dot_92 - object + Vase_bar__plus_02_dot_04_bar__plus_00_dot_54_bar__minus_02_dot_50 - object + Vase_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__minus_00_dot_76 - object + Window_bar__minus_02_dot_23_bar__plus_01_dot_43_bar__minus_01_dot_20 - object + WineBottle_bar__minus_02_dot_10_bar__plus_00_dot_91_bar__minus_02_dot_26 - 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 + 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Mug_bar__minus_00_dot_12_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 Cup_bar__plus_01_dot_58_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 PepperShaker_bar__plus_01_dot_58_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 SaltShaker_bar__plus_01_dot_99_bar__plus_00_dot_88_bar__minus_02_dot_62 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_87_bar__minus_02_dot_56) + (inReceptacle Cup_bar__plus_01_dot_69_bar__plus_00_dot_88_bar__minus_02_dot_62 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_87_bar__minus_02_dot_56) + (inReceptacle SoapBottle_bar__plus_01_dot_48_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 CreditCard_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 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) + (inReceptacle DishSponge_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 Bowl_bar__minus_02_dot_04_bar__plus_01_dot_50_bar__plus_00_dot_93 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09) + (inReceptacle Potato_bar__minus_02_dot_11_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 Tomato_bar__minus_02_dot_04_bar__plus_00_dot_58_bar__plus_00_dot_92 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_84_bar__plus_01_dot_00 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09) + (inReceptacle Tomato_bar__minus_01_dot_98_bar__plus_01_dot_35_bar__plus_00_dot_93 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09) + (inReceptacle Egg_bar__minus_02_dot_00_bar__plus_00_dot_26_bar__plus_01_dot_25 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09) + (inReceptacle ButterKnife_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 Mug_bar__minus_01_dot_85_bar__plus_00_dot_76_bar__minus_01_dot_67 Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin) + (inReceptacle Potato_bar__minus_02_dot_02_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) + (inReceptacle Bowl_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 Potato_bar__minus_01_dot_85_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) + (inReceptacle Egg_bar__minus_01_dot_96_bar__plus_00_dot_80_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_01_dot_96_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) + + + (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 loc_bar__minus_3_bar__minus_6_bar_3_bar_60) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + 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loc_bar__minus_5_bar__minus_6_bar_3_bar_60) + (objectAtLocation Cup_bar__minus_00_dot_12_bar__plus_01_dot_79_bar__minus_02_dot_61 loc_bar__minus_1_bar__minus_7_bar_2_bar_0) + (objectAtLocation CreditCard_bar__plus_01_dot_06_bar__plus_00_dot_64_bar__minus_02_dot_42 loc_bar_7_bar__minus_7_bar_3_bar_45) + (objectAtLocation Egg_bar__minus_02_dot_00_bar__plus_00_dot_26_bar__plus_01_dot_25 loc_bar__minus_4_bar_4_bar_3_bar_60) + (objectAtLocation Tomato_bar__minus_02_dot_04_bar__plus_00_dot_58_bar__plus_00_dot_92 loc_bar__minus_4_bar_4_bar_3_bar_60) + (objectAtLocation Plate_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_02_dot_33 loc_bar_3_bar__minus_7_bar_2_bar_45) + (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) + (objectAtLocation Potato_bar__minus_02_dot_02_bar__plus_00_dot_80_bar__minus_01_dot_24 loc_bar__minus_5_bar__minus_6_bar_3_bar_60) + (objectAtLocation 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PepperShaker_bar__plus_01_dot_58_bar__plus_00_dot_88_bar__minus_02_dot_51 loc_bar_7_bar__minus_5_bar_2_bar_30) + (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) + (objectAtLocation ButterKnife_bar__minus_00_dot_06_bar__plus_01_dot_11_bar_00_dot_00 loc_bar_3_bar_0_bar_3_bar_30) + (objectAtLocation Apple_bar__minus_01_dot_61_bar__plus_00_dot_96_bar__minus_02_dot_26 loc_bar__minus_5_bar__minus_7_bar_3_bar_45) + (objectAtLocation DishSponge_bar__minus_01_dot_69_bar__plus_00_dot_48_bar__minus_00_dot_29 loc_bar__minus_5_bar__minus_1_bar_3_bar_60) + (objectAtLocation Spoon_bar__minus_00_dot_34_bar__plus_01_dot_11_bar__minus_00_dot_76 loc_bar_3_bar_0_bar_3_bar_30) + (objectAtLocation LightSwitch_bar__plus_02_dot_33_bar__plus_01_dot_31_bar__minus_00_dot_16 loc_bar_7_bar__minus_1_bar_1_bar_30) + (objectAtLocation Mug_bar__minus_00_dot_12_bar__plus_01_dot_79_bar__minus_02_dot_48 loc_bar__minus_1_bar__minus_7_bar_2_bar_0) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (coolable ?o) + (objectType ?o MugType) + (receptacleType ?r ShelfType) + (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-Mug-None-Shelf-1/trial_T20190908_073714_857737/traj_data.json b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Mug-None-Shelf-1/trial_T20190908_073714_857737/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..4c805b1c13ff71b0a2039397b54363514a41b7f3 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Mug-None-Shelf-1/trial_T20190908_073714_857737/traj_data.json @@ -0,0 +1,10964 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000001.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000002.png", + 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}, + { + "assignment_id": "AKW57KYG90X61_3NVC2EB65TGIXQNUF0ZFDHPGT7FY3U", + "high_descs": [ + "move around to the microwave", + "take out a mug from the microwave", + "turn around and head to the fridge", + "place the mug to cool in the fridge and take it out", + "turn around and head to the shelf", + "place the mug on the shelf" + ], + "task_desc": "place a cold mug on the shelf", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AM2KK02JXXW48_3QRYMNZ7F1YTK8HANDWVEEV7JLXNTH", + "high_descs": [ + "Turn around to face the microwave above the stove. ", + "Take the mug out of the microwave. ", + "Turn right, bring the mug to the sink, turn right, go down to the fridge and face the fridge on the left. ", + "Chill the mug in the fridge. ", + "Bring the mug left to the sink, turn left, go past the counter to the wooden rack in the corner. ", + "Put the mug on the second shelf of the wooden rack. " + ], + "task_desc": "Put a chilled mug on the wooden rack. ", + "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-Shelf-1/trial_T20190908_074011_716201/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Mug-None-Shelf-1/trial_T20190908_074011_716201/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..965af22e57929e4db40b416060699eed22b5f619 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Mug-None-Shelf-1/trial_T20190908_074011_716201/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 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_074011_716201)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__plus_00_dot_45_bar__plus_00_dot_96_bar__minus_02_dot_56 - object\n Apple_bar__minus_01_dot_94_bar__plus_00_dot_10_bar__plus_02_dot_12 - object\n Apple_bar__minus_01_dot_96_bar__plus_00_dot_82_bar__minus_01_dot_50 - object\n Book_bar__plus_00_dot_16_bar__plus_01_dot_10_bar__plus_00_dot_62 - object\n Bowl_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__minus_00_dot_51 - object\n Bread_bar__minus_01_dot_86_bar__plus_00_dot_98_bar__minus_00_dot_70 - object\n Bread_bar__minus_02_dot_07_bar__plus_01_dot_38_bar__plus_01_dot_26 - object\n ButterKnife_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_33 - object\n ButterKnife_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__minus_02_dot_64 - object\n ButterKnife_bar__minus_01_dot_74_bar__plus_00_dot_48_bar__minus_00_dot_20 - 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_89_bar__plus_00_dot_31_bar__minus_02_dot_29 - object\n CreditCard_bar__minus_01_dot_65_bar__plus_00_dot_79_bar__minus_00_dot_15 - object\n CreditCard_bar__minus_01_dot_70_bar__plus_00_dot_79_bar__minus_00_dot_35 - object\n Cup_bar__plus_02_dot_10_bar__plus_00_dot_55_bar__minus_02_dot_67 - object\n Cup_bar__minus_01_dot_62_bar__plus_00_dot_13_bar__plus_00_dot_20 - object\n DishSponge_bar__plus_00_dot_32_bar__plus_00_dot_91_bar__minus_02_dot_71 - object\n DishSponge_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_02_dot_33 - object\n Egg_bar__minus_01_dot_80_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__minus_01_dot_96_bar__plus_00_dot_77_bar__minus_01_dot_59 - object\n Glassbottle_bar__minus_01_dot_35_bar__plus_01_dot_66_bar__minus_02_dot_57 - 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__plus_00_dot_36_bar__plus_01_dot_14_bar__minus_00_dot_51 - object\n Knife_bar__plus_00_dot_45_bar__plus_00_dot_94_bar__minus_02_dot_41 - object\n Lettuce_bar__minus_00_dot_06_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_50 - 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_12_bar__plus_01_dot_79_bar__minus_02_dot_55 - object\n Mug_bar__minus_01_dot_66_bar__plus_00_dot_13_bar__minus_01_dot_27 - object\n Mug_bar__minus_01_dot_80_bar__plus_00_dot_76_bar__minus_01_dot_41 - object\n Pan_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_37 - object\n PaperTowelRoll_bar__plus_01_dot_48_bar__plus_00_dot_99_bar__minus_02_dot_56 - object\n PepperShaker_bar__minus_00_dot_06_bar__plus_01_dot_11_bar_00_dot_00 - object\n PepperShaker_bar__minus_01_dot_74_bar__plus_00_dot_15_bar__minus_00_dot_34 - object\n Plate_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__plus_00_dot_76 - object\n Plate_bar__minus_01_dot_96_bar__plus_00_dot_77_bar__minus_01_dot_33 - object\n Plate_bar__minus_02_dot_12_bar__plus_00_dot_54_bar__plus_00_dot_92 - object\n Potato_bar__plus_00_dot_36_bar__plus_01_dot_14_bar__plus_00_dot_25 - object\n Potato_bar__minus_00_dot_28_bar__plus_01_dot_82_bar__minus_02_dot_48 - object\n Pot_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_37 - object\n Pot_bar__minus_02_dot_08_bar__plus_00_dot_54_bar__plus_01_dot_17 - object\n Pot_bar__minus_02_dot_08_bar__plus_01_dot_51_bar__plus_01_dot_09 - object\n SaltShaker_bar__plus_00_dot_39_bar__plus_00_dot_14_bar__minus_02_dot_24 - object\n SaltShaker_bar__plus_02_dot_10_bar__plus_00_dot_88_bar__minus_02_dot_62 - object\n SaltShaker_bar__minus_01_dot_29_bar__plus_00_dot_91_bar__minus_02_dot_56 - 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_20_bar__plus_01_dot_11_bar__minus_00_dot_76 - object\n SoapBottle_bar__minus_01_dot_94_bar__plus_00_dot_05_bar__plus_01_dot_93 - object\n Spatula_bar__minus_01_dot_80_bar__plus_00_dot_78_bar__minus_01_dot_76 - object\n Spatula_bar__minus_01_dot_83_bar__plus_00_dot_17_bar__minus_00_dot_25 - object\n Spoon_bar__plus_00_dot_89_bar__plus_00_dot_32_bar__minus_02_dot_33 - object\n Spoon_bar__plus_01_dot_01_bar__plus_00_dot_48_bar__minus_02_dot_38 - object\n Statue_bar__plus_01_dot_96_bar__plus_00_dot_17_bar__minus_02_dot_54 - object\n Statue_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__minus_00_dot_51 - 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_32_bar__plus_00_dot_95_bar__minus_02_dot_33 - object\n Tomato_bar__minus_02_dot_00_bar__plus_01_dot_54_bar__plus_00_dot_84 - object\n Vase_bar__plus_00_dot_39_bar__plus_00_dot_14_bar__minus_02_dot_44 - object\n Vase_bar__plus_01_dot_89_bar__plus_00_dot_55_bar__minus_02_dot_56 - 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_22_bar__plus_01_dot_11_bar_00_dot_00 - object\n WineBottle_bar__minus_01_dot_14_bar__plus_00_dot_91_bar__minus_02_dot_56 - object\n WineBottle_bar__minus_01_dot_86_bar__plus_00_dot_91_bar__minus_02_dot_04 - 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_0_bar_6_bar_2_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 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(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 Lettuce_bar__minus_00_dot_47_bar__plus_01_dot_19_bar__plus_00_dot_50 LettuceType)\n (objectType Tomato_bar__plus_00_dot_32_bar__plus_00_dot_95_bar__minus_02_dot_33 TomatoType)\n (objectType Plate_bar__minus_02_dot_12_bar__plus_00_dot_54_bar__plus_00_dot_92 PlateType)\n (objectType Plate_bar__minus_01_dot_96_bar__plus_00_dot_77_bar__minus_01_dot_33 PlateType)\n (objectType Tomato_bar__minus_02_dot_00_bar__plus_01_dot_54_bar__plus_00_dot_84 TomatoType)\n (objectType Bread_bar__minus_02_dot_07_bar__plus_01_dot_38_bar__plus_01_dot_26 BreadType)\n (objectType StoveKnob_bar__minus_00_dot_48_bar__plus_00_dot_88_bar__minus_02_dot_19 StoveKnobType)\n (objectType Chair_bar__plus_00_dot_62_bar__plus_00_dot_73_bar__minus_00_dot_51 ChairType)\n (objectType Lettuce_bar__minus_00_dot_06_bar__plus_01_dot_19_bar__plus_00_dot_25 LettuceType)\n (objectType Apple_bar__plus_00_dot_45_bar__plus_00_dot_96_bar__minus_02_dot_56 AppleType)\n (objectType CreditCard_bar__minus_01_dot_70_bar__plus_00_dot_79_bar__minus_00_dot_35 CreditCardType)\n (objectType Glassbottle_bar__minus_01_dot_35_bar__plus_01_dot_66_bar__minus_02_dot_57 GlassbottleType)\n (objectType Pot_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_37 PotType)\n (objectType Spoon_bar__plus_00_dot_89_bar__plus_00_dot_32_bar__minus_02_dot_33 SpoonType)\n (objectType Chair_bar__plus_00_dot_67_bar__plus_00_dot_73_bar__plus_00_dot_56 ChairType)\n (objectType PaperTowelRoll_bar__plus_01_dot_48_bar__plus_00_dot_99_bar__minus_02_dot_56 PaperTowelRollType)\n (objectType Egg_bar__minus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_24 EggType)\n (objectType WineBottle_bar__minus_01_dot_86_bar__plus_00_dot_91_bar__minus_02_dot_04 WineBottleType)\n (objectType HousePlant_bar__minus_01_dot_95_bar__plus_00_dot_90_bar__minus_02_dot_52 HousePlantType)\n (objectType Statue_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__minus_00_dot_51 StatueType)\n (objectType Potato_bar__minus_00_dot_28_bar__plus_01_dot_82_bar__minus_02_dot_48 PotatoType)\n (objectType CreditCard_bar__plus_00_dot_89_bar__plus_00_dot_31_bar__minus_02_dot_29 CreditCardType)\n (objectType Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50 SinkType)\n (objectType Vase_bar__plus_00_dot_39_bar__plus_00_dot_14_bar__minus_02_dot_44 VaseType)\n (objectType StoveKnob_bar__minus_00_dot_18_bar__plus_00_dot_88_bar__minus_02_dot_19 StoveKnobType)\n (objectType Bowl_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__minus_00_dot_51 BowlType)\n (objectType StoveKnob_bar__minus_00_dot_33_bar__plus_00_dot_88_bar__minus_02_dot_19 StoveKnobType)\n (objectType Kettle_bar__plus_01_dot_04_bar__plus_00_dot_90_bar__minus_02_dot_60 KettleType)\n (objectType 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(canContain ShelfType DishSpongeType)\n (canContain ShelfType BowlType)\n (canContain ShelfType KettleType)\n (canContain ShelfType PotType)\n (canContain ShelfType VaseType)\n (canContain ShelfType WineBottleType)\n (canContain ShelfType MugType)\n (canContain ShelfType GlassbottleType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType SoapBottleType)\n (canContain ShelfType CupType)\n (canContain ShelfType PlateType)\n (canContain ShelfType PepperShakerType)\n (canContain ShelfType StatueType)\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 DrawerType SaltShakerType)\n (canContain DrawerType BookType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType BookType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain StoveBurnerType 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(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 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 DrawerType SaltShakerType)\n (canContain DrawerType BookType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain 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 DrawerType SaltShakerType)\n (canContain DrawerType BookType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType BookType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain StoveBurnerType KettleType)\n (canContain StoveBurnerType PotType)\n 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Spatula_bar__minus_01_dot_83_bar__plus_00_dot_17_bar__minus_00_dot_25)\n (cleanable ButterKnife_bar__minus_01_dot_74_bar__plus_00_dot_48_bar__minus_00_dot_20)\n (cleanable Mug_bar__minus_01_dot_66_bar__plus_00_dot_13_bar__minus_01_dot_27)\n (cleanable Spoon_bar__plus_01_dot_01_bar__plus_00_dot_48_bar__minus_02_dot_38)\n (cleanable Plate_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__plus_00_dot_76)\n (cleanable Spatula_bar__minus_01_dot_80_bar__plus_00_dot_78_bar__minus_01_dot_76)\n (cleanable DishSponge_bar__plus_00_dot_32_bar__plus_00_dot_91_bar__minus_02_dot_71)\n (cleanable ButterKnife_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__minus_02_dot_64)\n (cleanable Pot_bar__minus_02_dot_08_bar__plus_01_dot_51_bar__plus_01_dot_09)\n (cleanable Pot_bar__minus_02_dot_08_bar__plus_00_dot_54_bar__plus_01_dot_17)\n (cleanable Cup_bar__minus_01_dot_62_bar__plus_00_dot_13_bar__plus_00_dot_20)\n \n (heatable Tomato_bar__plus_00_dot_32_bar__plus_00_dot_95_bar__minus_02_dot_33)\n (heatable Plate_bar__minus_02_dot_12_bar__plus_00_dot_54_bar__plus_00_dot_92)\n (heatable Plate_bar__minus_01_dot_96_bar__plus_00_dot_77_bar__minus_01_dot_33)\n (heatable Tomato_bar__minus_02_dot_00_bar__plus_01_dot_54_bar__plus_00_dot_84)\n (heatable Bread_bar__minus_02_dot_07_bar__plus_01_dot_38_bar__plus_01_dot_26)\n (heatable Apple_bar__plus_00_dot_45_bar__plus_00_dot_96_bar__minus_02_dot_56)\n (heatable Egg_bar__minus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_24)\n (heatable Potato_bar__minus_00_dot_28_bar__plus_01_dot_82_bar__minus_02_dot_48)\n (heatable Mug_bar__minus_01_dot_80_bar__plus_00_dot_76_bar__minus_01_dot_41)\n (heatable Apple_bar__minus_01_dot_94_bar__plus_00_dot_10_bar__plus_02_dot_12)\n (heatable Mug_bar__minus_00_dot_12_bar__plus_01_dot_79_bar__minus_02_dot_55)\n (heatable Potato_bar__plus_00_dot_36_bar__plus_01_dot_14_bar__plus_00_dot_25)\n (heatable Apple_bar__minus_01_dot_96_bar__plus_00_dot_82_bar__minus_01_dot_50)\n (heatable Cup_bar__plus_02_dot_10_bar__plus_00_dot_55_bar__minus_02_dot_67)\n (heatable Mug_bar__minus_01_dot_66_bar__plus_00_dot_13_bar__minus_01_dot_27)\n (heatable Plate_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__plus_00_dot_76)\n (heatable Bread_bar__minus_01_dot_86_bar__plus_00_dot_98_bar__minus_00_dot_70)\n (heatable Cup_bar__minus_01_dot_62_bar__plus_00_dot_13_bar__plus_00_dot_20)\n (coolable Lettuce_bar__minus_00_dot_47_bar__plus_01_dot_19_bar__plus_00_dot_50)\n (coolable Tomato_bar__plus_00_dot_32_bar__plus_00_dot_95_bar__minus_02_dot_33)\n (coolable Plate_bar__minus_02_dot_12_bar__plus_00_dot_54_bar__plus_00_dot_92)\n (coolable Plate_bar__minus_01_dot_96_bar__plus_00_dot_77_bar__minus_01_dot_33)\n (coolable Tomato_bar__minus_02_dot_00_bar__plus_01_dot_54_bar__plus_00_dot_84)\n (coolable Bread_bar__minus_02_dot_07_bar__plus_01_dot_38_bar__plus_01_dot_26)\n (coolable Lettuce_bar__minus_00_dot_06_bar__plus_01_dot_19_bar__plus_00_dot_25)\n (coolable Apple_bar__plus_00_dot_45_bar__plus_00_dot_96_bar__minus_02_dot_56)\n (coolable Pot_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_37)\n (coolable Egg_bar__minus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_24)\n (coolable WineBottle_bar__minus_01_dot_86_bar__plus_00_dot_91_bar__minus_02_dot_04)\n (coolable Potato_bar__minus_00_dot_28_bar__plus_01_dot_82_bar__minus_02_dot_48)\n (coolable Bowl_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__minus_00_dot_51)\n (coolable Mug_bar__minus_01_dot_80_bar__plus_00_dot_76_bar__minus_01_dot_41)\n (coolable WineBottle_bar__plus_00_dot_22_bar__plus_01_dot_11_bar_00_dot_00)\n (coolable Pan_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_37)\n (coolable Apple_bar__minus_01_dot_94_bar__plus_00_dot_10_bar__plus_02_dot_12)\n (coolable Mug_bar__minus_00_dot_12_bar__plus_01_dot_79_bar__minus_02_dot_55)\n (coolable Potato_bar__plus_00_dot_36_bar__plus_01_dot_14_bar__plus_00_dot_25)\n (coolable Apple_bar__minus_01_dot_96_bar__plus_00_dot_82_bar__minus_01_dot_50)\n (coolable Cup_bar__plus_02_dot_10_bar__plus_00_dot_55_bar__minus_02_dot_67)\n (coolable WineBottle_bar__minus_01_dot_14_bar__plus_00_dot_91_bar__minus_02_dot_56)\n (coolable Mug_bar__minus_01_dot_66_bar__plus_00_dot_13_bar__minus_01_dot_27)\n (coolable Plate_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__plus_00_dot_76)\n (coolable Bread_bar__minus_01_dot_86_bar__plus_00_dot_98_bar__minus_00_dot_70)\n (coolable Pot_bar__minus_02_dot_08_bar__plus_01_dot_51_bar__plus_01_dot_09)\n (coolable Pot_bar__minus_02_dot_08_bar__plus_00_dot_54_bar__plus_01_dot_17)\n (coolable Cup_bar__minus_01_dot_62_bar__plus_00_dot_13_bar__plus_00_dot_20)\n \n \n \n \n \n (sliceable Lettuce_bar__minus_00_dot_47_bar__plus_01_dot_19_bar__plus_00_dot_50)\n (sliceable Tomato_bar__plus_00_dot_32_bar__plus_00_dot_95_bar__minus_02_dot_33)\n (sliceable Tomato_bar__minus_02_dot_00_bar__plus_01_dot_54_bar__plus_00_dot_84)\n (sliceable Bread_bar__minus_02_dot_07_bar__plus_01_dot_38_bar__plus_01_dot_26)\n (sliceable Lettuce_bar__minus_00_dot_06_bar__plus_01_dot_19_bar__plus_00_dot_25)\n (sliceable Apple_bar__plus_00_dot_45_bar__plus_00_dot_96_bar__minus_02_dot_56)\n (sliceable Egg_bar__minus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_24)\n (sliceable Potato_bar__minus_00_dot_28_bar__plus_01_dot_82_bar__minus_02_dot_48)\n (sliceable Apple_bar__minus_01_dot_94_bar__plus_00_dot_10_bar__plus_02_dot_12)\n (sliceable Potato_bar__plus_00_dot_36_bar__plus_01_dot_14_bar__plus_00_dot_25)\n (sliceable Apple_bar__minus_01_dot_96_bar__plus_00_dot_82_bar__minus_01_dot_50)\n (sliceable Bread_bar__minus_01_dot_86_bar__plus_00_dot_98_bar__minus_00_dot_70)\n \n (inReceptacle Pot_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 Pan_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 CreditCard_bar__minus_01_dot_65_bar__plus_00_dot_79_bar__minus_00_dot_15 Drawer_bar__minus_01_dot_56_bar__plus_00_dot_84_bar__minus_00_dot_20)\n (inReceptacle CreditCard_bar__minus_01_dot_70_bar__plus_00_dot_79_bar__minus_00_dot_35 Drawer_bar__minus_01_dot_56_bar__plus_00_dot_84_bar__minus_00_dot_20)\n (inReceptacle Knife_bar__plus_00_dot_36_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)\n (inReceptacle Lettuce_bar__minus_00_dot_47_bar__plus_01_dot_19_bar__plus_00_dot_50 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Statue_bar__minus_00_dot_34_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 Statue_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__minus_00_dot_51 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle WineBottle_bar__plus_00_dot_22_bar__plus_01_dot_11_bar_00_dot_00 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle SoapBottle_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 Lettuce_bar__minus_00_dot_06_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__minus_00_dot_20_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 Potato_bar__plus_00_dot_36_bar__plus_01_dot_14_bar__plus_00_dot_25 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle PepperShaker_bar__minus_00_dot_06_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 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 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)\n (inReceptacle Mug_bar__minus_01_dot_66_bar__plus_00_dot_13_bar__minus_01_dot_27 Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__minus_01_dot_97)\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 Tomato_bar__plus_00_dot_32_bar__plus_00_dot_95_bar__minus_02_dot_33 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48)\n (inReceptacle DishSponge_bar__plus_01_dot_10_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 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)\n (inReceptacle Apple_bar__plus_00_dot_45_bar__plus_00_dot_96_bar__minus_02_dot_56 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48)\n (inReceptacle DishSponge_bar__plus_00_dot_32_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 ButterKnife_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 Spoon_bar__plus_00_dot_89_bar__plus_00_dot_32_bar__minus_02_dot_33 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_39_bar__minus_02_dot_20)\n (inReceptacle CreditCard_bar__plus_00_dot_89_bar__plus_00_dot_31_bar__minus_02_dot_29 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_39_bar__minus_02_dot_20)\n (inReceptacle Cup_bar__minus_01_dot_62_bar__plus_00_dot_13_bar__plus_00_dot_20 Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__plus_00_dot_38)\n (inReceptacle Spoon_bar__plus_01_dot_01_bar__plus_00_dot_48_bar__minus_02_dot_38 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_56_bar__minus_02_dot_20)\n (inReceptacle ButterKnife_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)\n (inReceptacle Glassbottle_bar__minus_01_dot_35_bar__plus_01_dot_66_bar__minus_02_dot_57 Cabinet_bar__minus_01_dot_69_bar__plus_02_dot_02_bar__minus_02_dot_46)\n (inReceptacle Vase_bar__plus_00_dot_39_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_39_bar__plus_00_dot_14_bar__minus_02_dot_24 Cabinet_bar__plus_00_dot_68_bar__plus_00_dot_50_bar__minus_02_dot_20)\n (inReceptacle PepperShaker_bar__minus_01_dot_74_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 Spatula_bar__minus_01_dot_83_bar__plus_00_dot_17_bar__minus_00_dot_25 Drawer_bar__minus_01_dot_56_bar__plus_00_dot_33_bar__minus_00_dot_20)\n (inReceptacle WineBottle_bar__minus_01_dot_14_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 WineBottle_bar__minus_01_dot_86_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)\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 Pan_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_37 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle SaltShaker_bar__minus_01_dot_29_bar__plus_00_dot_91_bar__minus_02_dot_56 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 ButterKnife_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__minus_02_dot_64 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Mug_bar__minus_00_dot_12_bar__plus_01_dot_79_bar__minus_02_dot_55 Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53)\n (inReceptacle Potato_bar__minus_00_dot_28_bar__plus_01_dot_82_bar__minus_02_dot_48 Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53)\n (inReceptacle PaperTowelRoll_bar__plus_01_dot_48_bar__plus_00_dot_99_bar__minus_02_dot_56 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_87_bar__minus_02_dot_56)\n (inReceptacle SaltShaker_bar__plus_02_dot_10_bar__plus_00_dot_88_bar__minus_02_dot_62 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_87_bar__minus_02_dot_56)\n (inReceptacle Cup_bar__plus_02_dot_10_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 Vase_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 SoapBottle_bar__minus_01_dot_94_bar__plus_00_dot_05_bar__plus_01_dot_93 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__plus_02_dot_03)\n (inReceptacle Apple_bar__minus_01_dot_94_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)\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 Tomato_bar__minus_02_dot_00_bar__plus_01_dot_54_bar__plus_00_dot_84 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle Plate_bar__minus_02_dot_12_bar__plus_00_dot_54_bar__plus_00_dot_92 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_26 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_09 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_00_dot_54_bar__plus_01_dot_17 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle Egg_bar__minus_01_dot_80_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 Mug_bar__minus_01_dot_80_bar__plus_00_dot_76_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 Plate_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 (inReceptacle Fork_bar__minus_01_dot_96_bar__plus_00_dot_77_bar__minus_01_dot_59 Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin)\n (inReceptacle Spatula_bar__minus_01_dot_80_bar__plus_00_dot_78_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 Apple_bar__minus_01_dot_96_bar__plus_00_dot_82_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_66_bar__plus_00_dot_13_bar__minus_01_dot_27 loc_bar__minus_3_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Spoon_bar__plus_01_dot_01_bar__plus_00_dot_48_bar__minus_02_dot_38 loc_bar_2_bar__minus_5_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__plus_00_dot_32_bar__plus_00_dot_91_bar__minus_02_dot_71 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_96_bar__plus_00_dot_82_bar__minus_01_dot_50 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation ButterKnife_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__minus_02_dot_64 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Lettuce_bar__minus_00_dot_47_bar__plus_01_dot_19_bar__plus_00_dot_50 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation PepperShaker_bar__minus_00_dot_06_bar__plus_01_dot_11_bar_00_dot_00 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation SaltShaker_bar__plus_02_dot_10_bar__plus_00_dot_88_bar__minus_02_dot_62 loc_bar_7_bar__minus_5_bar_2_bar_30)\n (objectAtLocation Cup_bar__minus_01_dot_62_bar__plus_00_dot_13_bar__plus_00_dot_20 loc_bar__minus_4_bar_2_bar_3_bar_60)\n (objectAtLocation Spatula_bar__minus_01_dot_83_bar__plus_00_dot_17_bar__minus_00_dot_25 loc_bar__minus_4_bar_3_bar_2_bar_60)\n (objectAtLocation Pot_bar__minus_02_dot_08_bar__plus_01_dot_51_bar__plus_01_dot_09 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation WineBottle_bar__minus_01_dot_14_bar__plus_00_dot_91_bar__minus_02_dot_56 loc_bar__minus_5_bar__minus_7_bar_3_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 CreditCard_bar__plus_00_dot_89_bar__plus_00_dot_31_bar__minus_02_dot_29 loc_bar_6_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Tomato_bar__plus_00_dot_32_bar__plus_00_dot_95_bar__minus_02_dot_33 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Plate_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__plus_00_dot_76 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation SoapBottle_bar__minus_01_dot_94_bar__plus_00_dot_05_bar__plus_01_dot_93 loc_bar__minus_5_bar_7_bar_3_bar_60)\n (objectAtLocation Potato_bar__plus_00_dot_36_bar__plus_01_dot_14_bar__plus_00_dot_25 loc_bar_3_bar_0_bar_3_bar_30)\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 Knife_bar__plus_00_dot_36_bar__plus_01_dot_14_bar__minus_00_dot_51 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation WineBottle_bar__plus_00_dot_22_bar__plus_01_dot_11_bar_00_dot_00 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation ButterKnife_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 Pot_bar__minus_02_dot_08_bar__plus_00_dot_54_bar__plus_01_dot_17 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation Mug_bar__minus_01_dot_80_bar__plus_00_dot_76_bar__minus_01_dot_41 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Apple_bar__plus_00_dot_45_bar__plus_00_dot_96_bar__minus_02_dot_56 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__plus_00_dot_39_bar__plus_00_dot_14_bar__minus_02_dot_24 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Plate_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 CreditCard_bar__minus_01_dot_65_bar__plus_00_dot_79_bar__minus_00_dot_15 loc_bar__minus_4_bar__minus_4_bar_0_bar_45)\n (objectAtLocation Statue_bar__minus_00_dot_34_bar__plus_01_dot_11_bar__minus_00_dot_25 loc_bar_3_bar_0_bar_3_bar_30)\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_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 Knife_bar__plus_00_dot_45_bar__plus_00_dot_94_bar__minus_02_dot_41 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Bread_bar__minus_02_dot_07_bar__plus_01_dot_38_bar__plus_01_dot_26 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation Fork_bar__minus_01_dot_96_bar__plus_00_dot_77_bar__minus_01_dot_59 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Potato_bar__minus_00_dot_28_bar__plus_01_dot_82_bar__minus_02_dot_48 loc_bar__minus_1_bar__minus_7_bar_2_bar_0)\n (objectAtLocation HousePlant_bar__minus_01_dot_95_bar__plus_00_dot_90_bar__minus_02_dot_52 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_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__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_47_bar__plus_00_dot_95_bar__minus_02_dot_37 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Plate_bar__minus_02_dot_12_bar__plus_00_dot_54_bar__plus_00_dot_92 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation Tomato_bar__minus_02_dot_00_bar__plus_01_dot_54_bar__plus_00_dot_84 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation Vase_bar__plus_00_dot_39_bar__plus_00_dot_14_bar__minus_02_dot_44 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Egg_bar__minus_01_dot_80_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__minus_01_dot_70_bar__plus_00_dot_79_bar__minus_00_dot_35 loc_bar__minus_4_bar__minus_4_bar_0_bar_45)\n (objectAtLocation Statue_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__minus_00_dot_51 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation 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_86_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_37 loc_bar_0_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Spatula_bar__minus_01_dot_80_bar__plus_00_dot_78_bar__minus_01_dot_76 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation PaperTowelRoll_bar__plus_01_dot_48_bar__plus_00_dot_99_bar__minus_02_dot_56 loc_bar_7_bar__minus_5_bar_2_bar_30)\n (objectAtLocation Cup_bar__plus_02_dot_10_bar__plus_00_dot_55_bar__minus_02_dot_67 loc_bar_5_bar__minus_6_bar_2_bar_45)\n (objectAtLocation Vase_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 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__minus_01_dot_29_bar__plus_00_dot_91_bar__minus_02_dot_56 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__minus_01_dot_74_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_00_dot_06_bar__plus_01_dot_19_bar__plus_00_dot_25 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation ButterKnife_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 Apple_bar__minus_01_dot_94_bar__plus_00_dot_10_bar__plus_02_dot_12 loc_bar__minus_5_bar_7_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_02_dot_33 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Spoon_bar__plus_00_dot_89_bar__plus_00_dot_32_bar__minus_02_dot_33 loc_bar_6_bar__minus_4_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_12_bar__plus_01_dot_79_bar__minus_02_dot_55 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 ShelfType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sinkbasin 1", "take mug 1 from sinkbasin 1", "go to fridge 1", "cool mug 1 with fridge 1", "go to shelf 2", "move mug 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-Mug-None-Shelf-1/trial_T20190908_074011_716201/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Mug-None-Shelf-1/trial_T20190908_074011_716201/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..6c0a3ccf2045dd80f1e44ffa671e77f76db07ce9 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Mug-None-Shelf-1/trial_T20190908_074011_716201/initial_state.pddl @@ -0,0 +1,1259 @@ + +(define (problem plan_trial_T20190908_074011_716201) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__plus_00_dot_45_bar__plus_00_dot_96_bar__minus_02_dot_56 - object + Apple_bar__minus_01_dot_94_bar__plus_00_dot_10_bar__plus_02_dot_12 - object + Apple_bar__minus_01_dot_96_bar__plus_00_dot_82_bar__minus_01_dot_50 - object + Book_bar__plus_00_dot_16_bar__plus_01_dot_10_bar__plus_00_dot_62 - object + Bowl_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__minus_00_dot_51 - object + Bread_bar__minus_01_dot_86_bar__plus_00_dot_98_bar__minus_00_dot_70 - object + Bread_bar__minus_02_dot_07_bar__plus_01_dot_38_bar__plus_01_dot_26 - object + ButterKnife_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_33 - object + ButterKnife_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__minus_02_dot_64 - object + ButterKnife_bar__minus_01_dot_74_bar__plus_00_dot_48_bar__minus_00_dot_20 - 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_89_bar__plus_00_dot_31_bar__minus_02_dot_29 - object + CreditCard_bar__minus_01_dot_65_bar__plus_00_dot_79_bar__minus_00_dot_15 - object + CreditCard_bar__minus_01_dot_70_bar__plus_00_dot_79_bar__minus_00_dot_35 - object + Cup_bar__plus_02_dot_10_bar__plus_00_dot_55_bar__minus_02_dot_67 - object + 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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_0_bar_6_bar_2_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 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SoapBottle_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 Lettuce_bar__minus_00_dot_06_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__minus_00_dot_20_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 Potato_bar__plus_00_dot_36_bar__plus_01_dot_14_bar__plus_00_dot_25 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle PepperShaker_bar__minus_00_dot_06_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 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 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 Mug_bar__minus_01_dot_66_bar__plus_00_dot_13_bar__minus_01_dot_27 Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__minus_01_dot_97) + (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 Tomato_bar__plus_00_dot_32_bar__plus_00_dot_95_bar__minus_02_dot_33 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48) + (inReceptacle DishSponge_bar__plus_01_dot_10_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 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 Apple_bar__plus_00_dot_45_bar__plus_00_dot_96_bar__minus_02_dot_56 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48) + (inReceptacle DishSponge_bar__plus_00_dot_32_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 ButterKnife_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 Spoon_bar__plus_00_dot_89_bar__plus_00_dot_32_bar__minus_02_dot_33 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_39_bar__minus_02_dot_20) + (inReceptacle CreditCard_bar__plus_00_dot_89_bar__plus_00_dot_31_bar__minus_02_dot_29 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_39_bar__minus_02_dot_20) + (inReceptacle Cup_bar__minus_01_dot_62_bar__plus_00_dot_13_bar__plus_00_dot_20 Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__plus_00_dot_38) + (inReceptacle Spoon_bar__plus_01_dot_01_bar__plus_00_dot_48_bar__minus_02_dot_38 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_56_bar__minus_02_dot_20) + (inReceptacle ButterKnife_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 Glassbottle_bar__minus_01_dot_35_bar__plus_01_dot_66_bar__minus_02_dot_57 Cabinet_bar__minus_01_dot_69_bar__plus_02_dot_02_bar__minus_02_dot_46) + (inReceptacle Vase_bar__plus_00_dot_39_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_39_bar__plus_00_dot_14_bar__minus_02_dot_24 Cabinet_bar__plus_00_dot_68_bar__plus_00_dot_50_bar__minus_02_dot_20) + (inReceptacle PepperShaker_bar__minus_01_dot_74_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 Spatula_bar__minus_01_dot_83_bar__plus_00_dot_17_bar__minus_00_dot_25 Drawer_bar__minus_01_dot_56_bar__plus_00_dot_33_bar__minus_00_dot_20) + (inReceptacle WineBottle_bar__minus_01_dot_14_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 WineBottle_bar__minus_01_dot_86_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 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 Pan_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_37 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle SaltShaker_bar__minus_01_dot_29_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 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 ButterKnife_bar__minus_00_dot_85_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 Mug_bar__minus_00_dot_12_bar__plus_01_dot_79_bar__minus_02_dot_55 Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53) + (inReceptacle Potato_bar__minus_00_dot_28_bar__plus_01_dot_82_bar__minus_02_dot_48 Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53) + (inReceptacle PaperTowelRoll_bar__plus_01_dot_48_bar__plus_00_dot_99_bar__minus_02_dot_56 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_87_bar__minus_02_dot_56) + (inReceptacle SaltShaker_bar__plus_02_dot_10_bar__plus_00_dot_88_bar__minus_02_dot_62 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_87_bar__minus_02_dot_56) + (inReceptacle Cup_bar__plus_02_dot_10_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 Vase_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 SoapBottle_bar__minus_01_dot_94_bar__plus_00_dot_05_bar__plus_01_dot_93 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__plus_02_dot_03) + (inReceptacle Apple_bar__minus_01_dot_94_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 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 Tomato_bar__minus_02_dot_00_bar__plus_01_dot_54_bar__plus_00_dot_84 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09) + (inReceptacle Plate_bar__minus_02_dot_12_bar__plus_00_dot_54_bar__plus_00_dot_92 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_26 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09) + (inReceptacle Pot_bar__minus_02_dot_08_bar__plus_01_dot_51_bar__plus_01_dot_09 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09) + (inReceptacle Pot_bar__minus_02_dot_08_bar__plus_00_dot_54_bar__plus_01_dot_17 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09) + (inReceptacle Egg_bar__minus_01_dot_80_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) + (inReceptacle Mug_bar__minus_01_dot_80_bar__plus_00_dot_76_bar__minus_01_dot_41 Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin) + (inReceptacle Plate_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) + (inReceptacle Fork_bar__minus_01_dot_96_bar__plus_00_dot_77_bar__minus_01_dot_59 Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin) + (inReceptacle Spatula_bar__minus_01_dot_80_bar__plus_00_dot_78_bar__minus_01_dot_76 Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin) + (inReceptacle Apple_bar__minus_01_dot_96_bar__plus_00_dot_82_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 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 loc_bar__minus_3_bar__minus_6_bar_3_bar_60) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + 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+ "scene_num": 1 + }, + "task_id": "trial_T20190908_074011_716201", + "task_type": "pick_cool_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AO33H4GL9KZX9_354P56DE9NK32NC8I6AG8CDVHNP7SC", + "high_descs": [ + "Go around the kitchen island to the front of the sink. ", + "Pick up the white coffee mug in front of the plate from the sink. ", + "Turn right and go to the front of the refrigerator. ", + "Chill the mug in the refrigerator on the shelf above the pots and take it out. ", + "Turn left and go around the island to the brown wooden shelves on the right.", + "Place the mug on the shelf below the paper towel. " + ], + "task_desc": "Move the mug in the sink to the shelf. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2871R3LEPWMMK_382M9COHEKW4QFJMUJJMTNN0O7DEUK", + "high_descs": [ + "Turn right, hang a left at the fridge and walk to the sink on the right.", + "Pick up the white mug in front of the plate inside the sink.", + "Turn right and walk to the white fridge on your left.", + "Put the mug inside the fridge on the top shelf, chill it for seven seconds, remove it and close the door.", + "Turn left, hang a left at the counter and turn right at the wall to face the wooden shelves.", + "Place the chilled mug on the second shelf from the bottom on the right side." + ], + "task_desc": "Place a chilled mug on a shelf.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A36DK84J5YJ942_3H7Z272LXAO54GLIUJ7WWCQLPNGLPC", + "high_descs": [ + "move to the sink to the left of the fridge", + "pick up a cup from the sink", + "move to the fridge to the right of you", + "chill the mug in the fridge for a moment", + "move to the shelf to the left of the stove ", + "put the mug on shelf" + ], + "task_desc": "Put a chilled mug 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-Pan-None-Cabinet-5/trial_T20190907_210845_687739/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Pan-None-Cabinet-5/trial_T20190907_210845_687739/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..cd7adecafcd17ab85ddc371af16f8b11c28fcbb1 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Pan-None-Cabinet-5/trial_T20190907_210845_687739/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 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_T20190907_210845_687739)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__plus_01_dot_85_bar__plus_01_dot_06_bar__minus_01_dot_30 - object\n Apple_bar__minus_01_dot_33_bar__plus_00_dot_96_bar__minus_00_dot_35 - object\n Bowl_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_00_dot_53 - object\n 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ButterKnife_bar__minus_01_dot_05_bar__plus_01_dot_13_bar__plus_00_dot_66)\n (cleanable Plate_bar__minus_01_dot_12_bar__plus_00_dot_90_bar__minus_01_dot_65)\n (cleanable Ladle_bar__minus_01_dot_05_bar__plus_01_dot_17_bar__plus_00_dot_71)\n (cleanable Pot_bar__plus_01_dot_87_bar__plus_00_dot_91_bar__minus_01_dot_93)\n (cleanable Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67)\n (cleanable Apple_bar__plus_01_dot_85_bar__plus_01_dot_06_bar__minus_01_dot_30)\n (cleanable Potato_bar__plus_02_dot_00_bar__plus_00_dot_09_bar__plus_00_dot_11)\n (cleanable Bowl_bar__minus_00_dot_63_bar__plus_00_dot_91_bar__plus_00_dot_24)\n (cleanable Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94)\n (cleanable Ladle_bar__minus_00_dot_25_bar__plus_00_dot_73_bar__plus_00_dot_18)\n (cleanable Spatula_bar__minus_00_dot_54_bar__plus_00_dot_71_bar__plus_00_dot_10)\n (cleanable Tomato_bar__minus_00_dot_03_bar__plus_00_dot_81_bar__minus_01_dot_95)\n (cleanable 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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)\n (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)\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 Bread_bar__minus_01_dot_15_bar__plus_00_dot_98_bar__minus_00_dot_19 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Spoon_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 Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle 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Spatula_bar__minus_00_dot_54_bar__plus_00_dot_71_bar__plus_00_dot_10 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01)\n (inReceptacle DishSponge_bar__minus_00_dot_65_bar__plus_00_dot_69_bar__plus_00_dot_10 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01)\n (inReceptacle DishSponge_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 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 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)\n (inReceptacle ButterKnife_bar__minus_01_dot_05_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 Ladle_bar__minus_01_dot_05_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 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 Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13)\n (inReceptacle DishSponge_bar__minus_00_dot_12_bar__plus_00_dot_70_bar__plus_00_dot_26 Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01)\n (inReceptacle PepperShaker_bar__plus_00_dot_08_bar__plus_00_dot_69_bar__plus_00_dot_10 Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01)\n (inReceptacle Spoon_bar__minus_00_dot_12_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 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 Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Kettle_bar__minus_01_dot_38_bar__plus_00_dot_91_bar__minus_02_dot_10 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle PaperTowelRoll_bar__plus_00_dot_74_bar__plus_01_dot_02_bar__minus_01_dot_76 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Mug_bar__plus_00_dot_50_bar__plus_00_dot_96_bar__minus_01_dot_90 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Spoon_bar__minus_00_dot_78_bar__plus_00_dot_91_bar__minus_01_dot_76 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Plate_bar__minus_01_dot_12_bar__plus_00_dot_90_bar__minus_01_dot_65 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Spatula_bar__minus_01_dot_40_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)\n (inReceptacle Pot_bar__plus_01_dot_87_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 Tomato_bar__plus_01_dot_85_bar__plus_00_dot_11_bar__plus_00_dot_11 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14)\n (inReceptacle Potato_bar__plus_02_dot_00_bar__plus_00_dot_09_bar__plus_00_dot_11 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14)\n (inReceptacle SoapBottle_bar__plus_02_dot_49_bar__plus_00_dot_88_bar__plus_00_dot_20 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14)\n (inReceptacle Apple_bar__plus_01_dot_85_bar__plus_01_dot_06_bar__minus_01_dot_30 Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35)\n (inReceptacle Mug_bar__plus_02_dot_69_bar__plus_00_dot_55_bar__plus_00_dot_09 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14)\n (inReceptacle 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 SoapBottle_bar__plus_03_dot_11_bar__plus_00_dot_55_bar__plus_00_dot_14 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14)\n (inReceptacle Statue_bar__plus_02_dot_66_bar__plus_00_dot_17_bar__plus_00_dot_19 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_16_bar__plus_00_dot_14)\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 Fork_bar__minus_00_dot_38_bar__plus_00_dot_76_bar__minus_02_dot_06 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Tomato_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 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__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 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 Tomato_bar__minus_00_dot_38_bar__plus_01_dot_18_bar__plus_00_dot_62 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Spoon_bar__minus_00_dot_12_bar__plus_00_dot_70_bar__plus_00_dot_18 loc_bar_3_bar__minus_2_bar_3_bar_45)\n (objectAtLocation DishSponge_bar__plus_00_dot_07_bar__plus_01_dot_13_bar__plus_00_dot_66 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation SoapBottle_bar__plus_02_dot_49_bar__plus_00_dot_88_bar__plus_00_dot_20 loc_bar_8_bar_3_bar_1_bar_45)\n (objectAtLocation Spatula_bar__minus_01_dot_40_bar__plus_00_dot_93_bar__minus_01_dot_64 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Kettle_bar__minus_01_dot_38_bar__plus_00_dot_91_bar__minus_02_dot_10 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_33_bar__plus_00_dot_96_bar__minus_00_dot_35 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\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 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 Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Tomato_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 Spoon_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 DishSponge_bar__minus_00_dot_65_bar__plus_00_dot_69_bar__plus_00_dot_10 loc_bar_0_bar__minus_2_bar_0_bar_60)\n (objectAtLocation 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 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Chair_bar__minus_00_dot_46_bar__plus_00_dot_01_bar__plus_00_dot_75 loc_bar__minus_2_bar_5_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_08_bar__plus_00_dot_01_bar__plus_00_dot_76 loc_bar_0_bar_5_bar_2_bar_60)\n (objectAtLocation HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_66_bar__plus_00_dot_72_bar__minus_01_dot_85 loc_bar_0_bar__minus_5_bar_3_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_63_bar__plus_00_dot_91_bar__plus_00_dot_24 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_38_bar__plus_00_dot_76_bar__minus_02_dot_06 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Ladle_bar__minus_01_dot_05_bar__plus_01_dot_17_bar__plus_00_dot_71 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Apple_bar__plus_01_dot_85_bar__plus_01_dot_06_bar__minus_01_dot_30 loc_bar_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Kettle_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 loc_bar__minus_2_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Vase_bar__minus_01_dot_06_bar__plus_00_dot_92_bar__plus_00_dot_08 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Potato_bar__plus_02_dot_00_bar__plus_00_dot_09_bar__plus_00_dot_11 loc_bar_8_bar_3_bar_2_bar_60)\n (objectAtLocation Pot_bar__plus_01_dot_87_bar__plus_00_dot_91_bar__minus_01_dot_93 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Bread_bar__minus_01_dot_15_bar__plus_00_dot_98_bar__minus_00_dot_19 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Plate_bar__minus_01_dot_12_bar__plus_00_dot_90_bar__minus_01_dot_65 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 loc_bar_2_bar_6_bar_0_bar_30)\n (objectAtLocation Spatula_bar__minus_00_dot_54_bar__plus_00_dot_71_bar__plus_00_dot_10 loc_bar_0_bar__minus_2_bar_0_bar_60)\n (objectAtLocation PaperTowelRoll_bar__plus_00_dot_74_bar__plus_01_dot_02_bar__minus_01_dot_76 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Vase_bar__minus_00_dot_42_bar__plus_00_dot_92_bar__plus_00_dot_29 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_00_dot_19 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation SoapBottle_bar__plus_03_dot_11_bar__plus_00_dot_55_bar__plus_00_dot_14 loc_bar_10_bar_5_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__plus_00_dot_01_bar__plus_00_dot_91_bar__plus_00_dot_03 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Lettuce_bar__minus_00_dot_26_bar__plus_00_dot_87_bar__minus_01_dot_97 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__plus_00_dot_08_bar__plus_00_dot_69_bar__plus_00_dot_10 loc_bar_3_bar__minus_2_bar_3_bar_45)\n (objectAtLocation ButterKnife_bar__minus_01_dot_05_bar__plus_01_dot_13_bar__plus_00_dot_66 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_83 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_68 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_97 loc_bar__minus_2_bar__minus_4_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_01_dot_12 loc_bar__minus_2_bar__minus_4_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__minus_00_dot_12_bar__plus_00_dot_70_bar__plus_00_dot_26 loc_bar_3_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Vase_bar__plus_02_dot_98_bar__plus_00_dot_54_bar__plus_00_dot_13 loc_bar_10_bar_5_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_78_bar__plus_00_dot_91_bar__minus_01_dot_76 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Tomato_bar__plus_01_dot_85_bar__plus_00_dot_11_bar__plus_00_dot_11 loc_bar_8_bar_3_bar_2_bar_60)\n (objectAtLocation Mug_bar__plus_02_dot_69_bar__plus_00_dot_55_bar__plus_00_dot_09 loc_bar_10_bar_5_bar_2_bar_45)\n (objectAtLocation Statue_bar__plus_02_dot_66_bar__plus_00_dot_17_bar__plus_00_dot_19 loc_bar_11_bar_6_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 PanType)\n (receptacleType ?r CabinetType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take pan 2 from countertop 1", "go to fridge 1", "cool pan 2 with fridge 1", "go to cabinet 16", "open cabinet 16", "move pan 2 to cabinet 16"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Pan-None-Cabinet-5/trial_T20190907_210845_687739/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Pan-None-Cabinet-5/trial_T20190907_210845_687739/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..e864f583f50ad8bd57044e827a273d54cf9c8cfb --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Pan-None-Cabinet-5/trial_T20190907_210845_687739/initial_state.pddl @@ -0,0 +1,1210 @@ + +(define (problem plan_trial_T20190907_210845_687739) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__plus_01_dot_85_bar__plus_01_dot_06_bar__minus_01_dot_30 - object + Apple_bar__minus_01_dot_33_bar__plus_00_dot_96_bar__minus_00_dot_35 - object + Bowl_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_00_dot_53 - object + Bowl_bar__minus_00_dot_63_bar__plus_00_dot_91_bar__plus_00_dot_24 - object + Bread_bar__minus_01_dot_15_bar__plus_00_dot_98_bar__minus_00_dot_19 - object + ButterKnife_bar__minus_01_dot_05_bar__plus_01_dot_13_bar__plus_00_dot_66 - object + Chair_bar__minus_00_dot_08_bar__plus_00_dot_01_bar__plus_00_dot_76 - object + Chair_bar__minus_00_dot_46_bar__plus_00_dot_01_bar__plus_00_dot_75 - object + Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 - object + DishSponge_bar__plus_00_dot_07_bar__plus_01_dot_13_bar__plus_00_dot_66 - object + DishSponge_bar__minus_00_dot_12_bar__plus_00_dot_70_bar__plus_00_dot_26 - object + DishSponge_bar__minus_00_dot_65_bar__plus_00_dot_69_bar__plus_00_dot_10 - object + Egg_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_00_dot_19 - object + Faucet_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_20 - object + Fork_bar__minus_00_dot_38_bar__plus_00_dot_76_bar__minus_02_dot_06 - object + HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 - object + Kettle_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 - object + Kettle_bar__minus_01_dot_38_bar__plus_00_dot_91_bar__minus_02_dot_10 - object + Knife_bar__minus_00_dot_66_bar__plus_00_dot_72_bar__minus_01_dot_85 - object + Ladle_bar__minus_00_dot_25_bar__plus_00_dot_73_bar__plus_00_dot_18 - object + Ladle_bar__minus_01_dot_05_bar__plus_01_dot_17_bar__plus_00_dot_71 - object + Lettuce_bar__minus_00_dot_26_bar__plus_00_dot_87_bar__minus_01_dot_97 - object + LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 - object + Mug_bar__plus_00_dot_50_bar__plus_00_dot_96_bar__minus_01_dot_90 - object + Mug_bar__plus_02_dot_69_bar__plus_00_dot_55_bar__plus_00_dot_09 - 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 + Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 - object + PaperTowelRoll_bar__plus_00_dot_74_bar__plus_01_dot_02_bar__minus_01_dot_76 - object + PepperShaker_bar__plus_00_dot_08_bar__plus_00_dot_69_bar__plus_00_dot_10 - object + Plate_bar__minus_01_dot_12_bar__plus_00_dot_90_bar__minus_01_dot_65 - object + Potato_bar__plus_02_dot_00_bar__plus_00_dot_09_bar__plus_00_dot_11 - object + Pot_bar__plus_01_dot_87_bar__plus_00_dot_91_bar__minus_01_dot_93 - object + SaltShaker_bar__plus_00_dot_01_bar__plus_00_dot_91_bar__plus_00_dot_03 - object + Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 - object + SoapBottle_bar__plus_02_dot_49_bar__plus_00_dot_88_bar__plus_00_dot_20 - object + SoapBottle_bar__plus_03_dot_11_bar__plus_00_dot_55_bar__plus_00_dot_14 - object + Spatula_bar__minus_00_dot_54_bar__plus_00_dot_71_bar__plus_00_dot_10 - object + Spatula_bar__minus_01_dot_40_bar__plus_00_dot_93_bar__minus_01_dot_64 - object + Spoon_bar__minus_00_dot_12_bar__plus_00_dot_70_bar__plus_00_dot_18 - object + Spoon_bar__minus_00_dot_78_bar__plus_00_dot_91_bar__minus_01_dot_76 - object + Spoon_bar__minus_01_dot_28_bar__plus_00_dot_91_bar__plus_00_dot_14 - object + Statue_bar__plus_02_dot_66_bar__plus_00_dot_17_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_85_bar__plus_00_dot_11_bar__plus_00_dot_11 - object + Tomato_bar__minus_00_dot_03_bar__plus_00_dot_81_bar__minus_01_dot_95 - object + Tomato_bar__minus_00_dot_38_bar__plus_01_dot_18_bar__plus_00_dot_62 - object + Vase_bar__plus_02_dot_98_bar__plus_00_dot_54_bar__plus_00_dot_13 - object + Vase_bar__minus_00_dot_42_bar__plus_00_dot_92_bar__plus_00_dot_29 - object + Vase_bar__minus_01_dot_06_bar__plus_00_dot_92_bar__plus_00_dot_08 - object + Cabinet_bar__plus_00_dot_12_bar__plus_02_dot_27_bar__minus_02_dot_00 - receptacle + Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle + Cabinet_bar__plus_01_dot_18_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle + Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_46_bar__minus_01_dot_69 - receptacle + Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 - receptacle + Cabinet_bar__plus_01_dot_74_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle + Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03 - receptacle + Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40 - receptacle + Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_37_bar__minus_00_dot_01 - receptacle + Cabinet_bar__minus_00_dot_45_bar__plus_00_dot_47_bar__minus_00_dot_01 - receptacle + Cabinet_bar__minus_00_dot_46_bar__plus_02_dot_27_bar__minus_02_dot_00 - receptacle + Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_01_dot_69 - receptacle + Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_00_dot_05 - receptacle + Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_01_dot_67 - receptacle + Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle + Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__plus_00_dot_38 - receptacle + Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_00_dot_77 - receptacle + Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_01_dot_98 - receptacle + Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_84 - receptacle + Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_01_dot_42 - receptacle + CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_02_dot_13 - receptacle + CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01 - receptacle + CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57 - receptacle + CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19 - receptacle + Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01 - receptacle + Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01 - receptacle + Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69 - receptacle + Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54 - receptacle + GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14 - receptacle + Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35 - receptacle + Shelf_bar__plus_02_dot_81_bar__plus_00_dot_16_bar__plus_00_dot_14 - receptacle + Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14 - receptacle + Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 - receptacle + Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin - receptacle + StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_00_dot_67 - receptacle + StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13 - receptacle + StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_00_dot_76 - receptacle + StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_02 - receptacle + Toaster_bar__plus_00_dot_84_bar__plus_00_dot_90_bar__minus_02_dot_06 - receptacle + loc_bar__minus_2_bar__minus_2_bar_3_bar__minus_30 - location + loc_bar__minus_2_bar__minus_1_bar_3_bar__minus_30 - location + loc_bar_3_bar__minus_2_bar_3_bar_45 - location + loc_bar_8_bar_3_bar_2_bar_60 - location + loc_bar_4_bar__minus_5_bar_1_bar__minus_30 - location + loc_bar_2_bar__minus_4_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_3_bar_45 - location + loc_bar_2_bar__minus_5_bar_2_bar_45 - location + loc_bar_8_bar_3_bar_1_bar_45 - location + loc_bar__minus_2_bar__minus_3_bar_3_bar_45 - location + loc_bar__minus_1_bar__minus_3_bar_2_bar_45 - location + loc_bar__minus_2_bar__minus_4_bar_3_bar__minus_30 - location + loc_bar_4_bar__minus_5_bar_1_bar_45 - location + loc_bar_4_bar__minus_3_bar_1_bar_60 - location + loc_bar_0_bar_5_bar_2_bar_60 - location + loc_bar_2_bar_6_bar_0_bar_30 - location + loc_bar__minus_2_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_0_bar__minus_2_bar_3_bar_60 - location + loc_bar_11_bar_6_bar_2_bar_45 - location + loc_bar_10_bar_5_bar_2_bar_45 - location + loc_bar__minus_2_bar__minus_2_bar_0_bar_45 - location + loc_bar_4_bar__minus_5_bar_2_bar_45 - location + loc_bar_1_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_0_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar__minus_2_bar__minus_5_bar_3_bar_45 - location + loc_bar_0_bar__minus_5_bar_3_bar_45 - location + loc_bar_0_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_2_bar_5_bar_2_bar_60 - location + loc_bar_4_bar__minus_3_bar_2_bar_45 - location + loc_bar_2_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar__minus_2_bar__minus_3_bar_3_bar_60 - location + loc_bar_0_bar__minus_4_bar_3_bar_60 - location + loc_bar_4_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar__minus_1_bar__minus_4_bar_0_bar_45 - location + loc_bar_0_bar__minus_2_bar_0_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_0_bar_45 - location + loc_bar_3_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_2_bar__minus_4_bar_3_bar_60 - location + loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15 - location + loc_bar_2_bar_3_bar_3_bar_30 - location + loc_bar__minus_2_bar__minus_5_bar_3_bar__minus_30 - location + loc_bar_4_bar_7_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_84 CabinetType) + (receptacleType Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 ShelfType) + (receptacleType 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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CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle Ladle_bar__minus_01_dot_05_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 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 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 DishSponge_bar__minus_00_dot_12_bar__plus_00_dot_70_bar__plus_00_dot_26 Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01) + (inReceptacle PepperShaker_bar__plus_00_dot_08_bar__plus_00_dot_69_bar__plus_00_dot_10 Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01) + (inReceptacle Spoon_bar__minus_00_dot_12_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 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 Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Kettle_bar__minus_01_dot_38_bar__plus_00_dot_91_bar__minus_02_dot_10 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle PaperTowelRoll_bar__plus_00_dot_74_bar__plus_01_dot_02_bar__minus_01_dot_76 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Mug_bar__plus_00_dot_50_bar__plus_00_dot_96_bar__minus_01_dot_90 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Spoon_bar__minus_00_dot_78_bar__plus_00_dot_91_bar__minus_01_dot_76 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Plate_bar__minus_01_dot_12_bar__plus_00_dot_90_bar__minus_01_dot_65 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Spatula_bar__minus_01_dot_40_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 Pot_bar__plus_01_dot_87_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 Tomato_bar__plus_01_dot_85_bar__plus_00_dot_11_bar__plus_00_dot_11 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14) + (inReceptacle Potato_bar__plus_02_dot_00_bar__plus_00_dot_09_bar__plus_00_dot_11 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14) + (inReceptacle SoapBottle_bar__plus_02_dot_49_bar__plus_00_dot_88_bar__plus_00_dot_20 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14) + (inReceptacle Apple_bar__plus_01_dot_85_bar__plus_01_dot_06_bar__minus_01_dot_30 Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35) + (inReceptacle Mug_bar__plus_02_dot_69_bar__plus_00_dot_55_bar__plus_00_dot_09 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14) + (inReceptacle 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 SoapBottle_bar__plus_03_dot_11_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 Statue_bar__plus_02_dot_66_bar__plus_00_dot_17_bar__plus_00_dot_19 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_16_bar__plus_00_dot_14) + (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 Fork_bar__minus_00_dot_38_bar__plus_00_dot_76_bar__minus_02_dot_06 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Tomato_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) + (inReceptacle Lettuce_bar__minus_00_dot_26_bar__plus_00_dot_87_bar__minus_01_dot_97 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle 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 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loc_bar_4_bar__minus_5_bar_1_bar_45) + (receptacleAtLocation Shelf_bar__plus_02_dot_81_bar__plus_00_dot_16_bar__plus_00_dot_14 loc_bar_11_bar_6_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14 loc_bar_10_bar_5_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 loc_bar_8_bar_3_bar_1_bar_45) + (receptacleAtLocation Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin loc_bar_0_bar__minus_5_bar_2_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_00_dot_67 loc_bar__minus_2_bar__minus_3_bar_3_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13 loc_bar__minus_2_bar__minus_5_bar_3_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_00_dot_76 loc_bar__minus_2_bar__minus_3_bar_3_bar_45) + (receptacleAtLocation 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(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-Pan-None-Cabinet-5/trial_T20190907_210845_687739/traj_data.json b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Pan-None-Cabinet-5/trial_T20190907_210845_687739/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..5b56eb6774cb86567ad1d250a51711d26f435851 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Pan-None-Cabinet-5/trial_T20190907_210845_687739/traj_data.json @@ -0,0 +1,8607 @@ +{ + "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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the fridge then remove it", + "Turn around, walk a few feet, then turn back to face toward the counter just right of the fridge", + "Open the lower cabinet right of the fridge and put the pan in it" + ], + "task_desc": "Put the chilled pan in the kitchen cabinet", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1OWHPMKE7YAGL_3MAOD8E57TR01PQUSNXS3HGDW25XN0", + "high_descs": [ + "Turn to the left and go to the counter, then turn to the right and go to the stove. ", + "Pick up the skillet that is on the back left stove burner. ", + "Turn around and go to the fridge.", + "Put the skillet inside the fridge and close the door, take the skillet out of the fridge. ", + "Go to the cabinet that is on the right of the fridge underneath the microwave.", + "Put the skillet inside the cabinet and close the door. " + ], + "task_desc": "Put a cold skillet in a cabinet. ", + "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-Cabinet-5/trial_T20190919_044853_269939/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Pan-None-Cabinet-5/trial_T20190919_044853_269939/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..9abb7b78d8f7d52f765247aba3c0263f11c73f4b --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Pan-None-Cabinet-5/trial_T20190919_044853_269939/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 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_T20190919_044853_269939)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__plus_02_dot_00_bar__plus_01_dot_15_bar__minus_00_dot_37 - object\n Bowl_bar__plus_01_dot_88_bar__plus_01_dot_65_bar__minus_01_dot_80 - object\n Bowl_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_25 - object\n Bowl_bar__minus_00_dot_42_bar__plus_00_dot_91_bar__plus_00_dot_08 - object\n Bread_bar__minus_01_dot_15_bar__plus_00_dot_98_bar__minus_00_dot_19 - object\n ButterKnife_bar__minus_00_dot_63_bar__plus_00_dot_91_bar__plus_00_dot_03 - 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_59_bar__plus_01_dot_65_bar__minus_02_dot_09 - object\n DishSponge_bar__minus_00_dot_42_bar__plus_00_dot_91_bar__plus_00_dot_24 - object\n Egg_bar__plus_01_dot_78_bar__plus_01_dot_46_bar__minus_00_dot_55 - object\n Egg_bar__minus_00_dot_03_bar__plus_00_dot_80_bar__minus_02_dot_01 - object\n Egg_bar__minus_01_dot_25_bar__plus_00_dot_95_bar__minus_00_dot_41 - 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_70_bar__plus_00_dot_14 - 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__plus_01_dot_19_bar__plus_00_dot_93_bar__minus_02_dot_01 - object\n Ladle_bar__minus_00_dot_19_bar__plus_00_dot_15_bar__plus_00_dot_16 - object\n Ladle_bar__minus_01_dot_05_bar__plus_01_dot_17_bar__plus_00_dot_62 - object\n Lettuce_bar__plus_01_dot_95_bar__plus_01_dot_50_bar__minus_00_dot_46 - object\n Lettuce_bar__plus_02_dot_00_bar__plus_01_dot_50_bar__minus_00_dot_74 - 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_06_bar__plus_00_dot_76_bar__minus_02_dot_12 - object\n Mug_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_53 - object\n Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 - object\n Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 - object\n Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 - object\n PaperTowelRoll_bar__plus_01_dot_87_bar__plus_01_dot_02_bar__minus_01_dot_93 - object\n PepperShaker_bar__plus_00_dot_07_bar__plus_01_dot_13_bar__plus_00_dot_57 - object\n PepperShaker_bar__plus_01_dot_91_bar__plus_01_dot_66_bar__minus_01_dot_12 - object\n PepperShaker_bar__minus_00_dot_90_bar__plus_00_dot_91_bar__minus_01_dot_76 - object\n Plate_bar__plus_01_dot_89_bar__plus_01_dot_10_bar__minus_00_dot_64 - object\n Plate_bar__minus_00_dot_61_bar__plus_00_dot_11_bar__plus_00_dot_13 - object\n Potato_bar__plus_01_dot_42_bar__plus_00_dot_94_bar__minus_02_dot_10 - object\n Potato_bar__plus_01_dot_84_bar__plus_01_dot_13_bar__minus_00_dot_46 - object\n Pot_bar__minus_01_dot_09_bar__plus_00_dot_90_bar__plus_00_dot_24 - object\n SaltShaker_bar__minus_01_dot_40_bar__plus_00_dot_91_bar__minus_01_dot_38 - object\n Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 - object\n SoapBottle_bar__plus_01_dot_42_bar__plus_00_dot_91_bar__minus_02_dot_01 - object\n SoapBottle_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_00_dot_53 - object\n SoapBottle_bar__minus_00_dot_60_bar__plus_01_dot_13_bar__plus_00_dot_66 - object\n Spatula_bar__minus_00_dot_54_bar__plus_00_dot_71_bar__plus_00_dot_10 - object\n Spoon_bar__minus_00_dot_29_bar__plus_00_dot_76_bar__minus_01_dot_95 - object\n Spoon_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_71 - object\n Spoon_bar__minus_00_dot_63_bar__plus_00_dot_91_bar__plus_00_dot_24 - object\n Statue_bar__plus_03_dot_00_bar__plus_00_dot_89_bar__plus_00_dot_20 - object\n Statue_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_00_dot_17 - object\n StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_68 - object\n StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_83 - object\n StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_97 - object\n StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_01_dot_12 - object\n Tomato_bar__plus_01_dot_89_bar__plus_00_dot_87_bar__minus_00_dot_83 - object\n Tomato_bar__plus_01_dot_96_bar__plus_00_dot_11_bar__plus_00_dot_14 - object\n Tomato_bar__minus_01_dot_40_bar__plus_00_dot_96_bar__minus_01_dot_72 - object\n Vase_bar__plus_01_dot_91_bar__plus_01_dot_65_bar__minus_01_dot_54 - object\n Vase_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_24 - object\n Vase_bar__minus_01_dot_16_bar__plus_00_dot_92_bar__minus_01_dot_64 - object\n Cabinet_bar__plus_00_dot_12_bar__plus_02_dot_27_bar__minus_02_dot_00 - receptacle\n Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle\n Cabinet_bar__plus_01_dot_18_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle\n Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_46_bar__minus_01_dot_69 - receptacle\n Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 - receptacle\n Cabinet_bar__plus_01_dot_74_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle\n Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03 - receptacle\n Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40 - receptacle\n Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_37_bar__minus_00_dot_01 - receptacle\n Cabinet_bar__minus_00_dot_45_bar__plus_00_dot_47_bar__minus_00_dot_01 - receptacle\n Cabinet_bar__minus_00_dot_46_bar__plus_02_dot_27_bar__minus_02_dot_00 - receptacle\n Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_01_dot_69 - receptacle\n Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_00_dot_05 - receptacle\n Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_01_dot_67 - receptacle\n Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle\n Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__plus_00_dot_38 - receptacle\n Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_00_dot_77 - receptacle\n Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_01_dot_98 - receptacle\n Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_84 - receptacle\n Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_01_dot_42 - receptacle\n CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_02_dot_13 - receptacle\n CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01 - receptacle\n CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57 - receptacle\n CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19 - receptacle\n Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01 - receptacle\n Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01 - receptacle\n Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69 - receptacle\n Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54 - receptacle\n GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14 - receptacle\n Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35 - receptacle\n Shelf_bar__plus_02_dot_81_bar__plus_00_dot_16_bar__plus_00_dot_14 - receptacle\n Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14 - receptacle\n Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 - receptacle\n Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_00_dot_67 - receptacle\n StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13 - receptacle\n StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_00_dot_76 - receptacle\n StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_02 - receptacle\n Toaster_bar__plus_00_dot_84_bar__plus_00_dot_90_bar__minus_02_dot_06 - receptacle\n loc_bar__minus_2_bar__minus_2_bar_3_bar__minus_30 - location\n loc_bar__minus_2_bar__minus_1_bar_3_bar__minus_30 - location\n loc_bar_3_bar__minus_2_bar_3_bar_45 - location\n loc_bar_8_bar_3_bar_2_bar_60 - location\n loc_bar_4_bar__minus_5_bar_1_bar__minus_30 - location\n loc_bar_2_bar__minus_4_bar_1_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_3_bar_45 - location\n loc_bar_2_bar__minus_5_bar_2_bar_45 - location\n loc_bar_8_bar_3_bar_1_bar_45 - location\n loc_bar__minus_2_bar__minus_3_bar_3_bar_45 - location\n loc_bar__minus_1_bar__minus_3_bar_2_bar_45 - location\n loc_bar__minus_2_bar__minus_4_bar_3_bar__minus_30 - location\n loc_bar_4_bar__minus_5_bar_1_bar_45 - location\n loc_bar_4_bar__minus_3_bar_1_bar_60 - location\n loc_bar_0_bar_5_bar_2_bar_60 - location\n loc_bar_2_bar_6_bar_0_bar_30 - location\n loc_bar__minus_2_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_0_bar__minus_2_bar_3_bar_60 - location\n loc_bar_11_bar_6_bar_2_bar_45 - location\n loc_bar_10_bar_5_bar_2_bar_45 - location\n loc_bar__minus_2_bar__minus_2_bar_0_bar_45 - location\n loc_bar_4_bar__minus_5_bar_2_bar_45 - location\n loc_bar_1_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_0_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar__minus_2_bar__minus_5_bar_3_bar_45 - location\n loc_bar_0_bar__minus_5_bar_3_bar_45 - location\n loc_bar_0_bar__minus_5_bar_2_bar_45 - location\n loc_bar__minus_2_bar_5_bar_2_bar_60 - location\n loc_bar_4_bar__minus_3_bar_2_bar_45 - location\n loc_bar_2_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar__minus_2_bar__minus_3_bar_3_bar_60 - location\n loc_bar_0_bar__minus_4_bar_3_bar_60 - location\n loc_bar_4_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar__minus_1_bar__minus_4_bar_0_bar_45 - location\n loc_bar_0_bar__minus_2_bar_0_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_0_bar_45 - location\n loc_bar_3_bar__minus_5_bar_2_bar_45 - location\n loc_bar__minus_2_bar__minus_4_bar_3_bar_60 - location\n loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15 - location\n loc_bar_2_bar_3_bar_3_bar_30 - location\n loc_bar__minus_2_bar__minus_5_bar_3_bar__minus_30 - location\n loc_bar_0_bar__minus_1_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_84 CabinetType)\n (receptacleType Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 ShelfType)\n (receptacleType 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 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Potato_bar__plus_01_dot_42_bar__plus_00_dot_94_bar__minus_02_dot_10)\n (sliceable Tomato_bar__plus_01_dot_89_bar__plus_00_dot_87_bar__minus_00_dot_83)\n (sliceable Bread_bar__minus_01_dot_15_bar__plus_00_dot_98_bar__minus_00_dot_19)\n (sliceable Lettuce_bar__plus_01_dot_95_bar__plus_01_dot_50_bar__minus_00_dot_46)\n (sliceable Tomato_bar__minus_01_dot_40_bar__plus_00_dot_96_bar__minus_01_dot_72)\n \n (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)\n (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)\n (inReceptacle DishSponge_bar__plus_01_dot_59_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 Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_00_dot_76)\n (inReceptacle PepperShaker_bar__plus_01_dot_91_bar__plus_01_dot_66_bar__minus_01_dot_12 Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03)\n (inReceptacle Vase_bar__plus_01_dot_91_bar__plus_01_dot_65_bar__minus_01_dot_54 Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40)\n (inReceptacle Bowl_bar__plus_01_dot_88_bar__plus_01_dot_65_bar__minus_01_dot_80 Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40)\n (inReceptacle Ladle_bar__minus_00_dot_19_bar__plus_00_dot_15_bar__plus_00_dot_16 Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_37_bar__minus_00_dot_01)\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 Bread_bar__minus_01_dot_15_bar__plus_00_dot_98_bar__minus_00_dot_19 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle DishSponge_bar__minus_00_dot_42_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 Egg_bar__minus_01_dot_25_bar__plus_00_dot_95_bar__minus_00_dot_41 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Spoon_bar__minus_00_dot_63_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 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)\n (inReceptacle ButterKnife_bar__minus_00_dot_63_bar__plus_00_dot_91_bar__plus_00_dot_03 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Vase_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_24 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Bowl_bar__minus_00_dot_42_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_33_bar__plus_00_dot_92_bar__minus_00_dot_17 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Spatula_bar__minus_00_dot_54_bar__plus_00_dot_71_bar__plus_00_dot_10 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01)\n (inReceptacle Plate_bar__minus_00_dot_61_bar__plus_00_dot_11_bar__plus_00_dot_13 Cabinet_bar__minus_00_dot_45_bar__plus_00_dot_47_bar__minus_00_dot_01)\n (inReceptacle PepperShaker_bar__plus_00_dot_07_bar__plus_01_dot_13_bar__plus_00_dot_57 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle Mug_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 SoapBottle_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 Ladle_bar__minus_01_dot_05_bar__plus_01_dot_17_bar__plus_00_dot_62 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle Spoon_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_71 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle SoapBottle_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 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 Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13)\n (inReceptacle Fork_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 Knife_bar__plus_01_dot_19_bar__plus_00_dot_93_bar__minus_02_dot_01 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle PaperTowelRoll_bar__plus_01_dot_87_bar__plus_01_dot_02_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_01_dot_42_bar__plus_00_dot_91_bar__minus_02_dot_01 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Tomato_bar__minus_01_dot_40_bar__plus_00_dot_96_bar__minus_01_dot_72 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle PepperShaker_bar__minus_00_dot_90_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 Potato_bar__plus_01_dot_42_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)\n (inReceptacle SaltShaker_bar__minus_01_dot_40_bar__plus_00_dot_91_bar__minus_01_dot_38 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Vase_bar__minus_01_dot_16_bar__plus_00_dot_92_bar__minus_01_dot_64 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Tomato_bar__plus_01_dot_96_bar__plus_00_dot_11_bar__plus_00_dot_14 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14)\n (inReceptacle Statue_bar__plus_03_dot_00_bar__plus_00_dot_89_bar__plus_00_dot_20 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14)\n (inReceptacle Bowl_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_25 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14)\n (inReceptacle Potato_bar__plus_01_dot_84_bar__plus_01_dot_13_bar__minus_00_dot_46 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Egg_bar__plus_01_dot_78_bar__plus_01_dot_46_bar__minus_00_dot_55 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Tomato_bar__plus_01_dot_89_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 Plate_bar__plus_01_dot_89_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 Lettuce_bar__plus_02_dot_00_bar__plus_01_dot_50_bar__minus_00_dot_74 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Lettuce_bar__plus_01_dot_95_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_02_dot_00_bar__plus_01_dot_15_bar__minus_00_dot_37 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Spoon_bar__minus_00_dot_29_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 Mug_bar__plus_00_dot_06_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 Egg_bar__minus_00_dot_03_bar__plus_00_dot_80_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 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_33_bar__plus_00_dot_92_bar__minus_00_dot_17 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Mug_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 Tomato_bar__plus_01_dot_96_bar__plus_00_dot_11_bar__plus_00_dot_14 loc_bar_8_bar_3_bar_2_bar_60)\n (objectAtLocation Spoon_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_71 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation DishSponge_bar__plus_01_dot_59_bar__plus_01_dot_65_bar__minus_02_dot_09 loc_bar_4_bar__minus_5_bar_2_bar__minus_30)\n (objectAtLocation PepperShaker_bar__plus_01_dot_91_bar__plus_01_dot_66_bar__minus_01_dot_12 loc_bar_4_bar__minus_5_bar_1_bar__minus_30)\n (objectAtLocation Lettuce_bar__plus_01_dot_95_bar__plus_01_dot_50_bar__minus_00_dot_46 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation SoapBottle_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__plus_01_dot_78_bar__plus_01_dot_46_bar__minus_00_dot_55 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Plate_bar__minus_00_dot_61_bar__plus_00_dot_11_bar__plus_00_dot_13 loc_bar__minus_2_bar__minus_4_bar_0_bar_45)\n (objectAtLocation Potato_bar__plus_01_dot_84_bar__plus_01_dot_13_bar__minus_00_dot_46 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Ladle_bar__minus_00_dot_19_bar__plus_00_dot_15_bar__plus_00_dot_16 loc_bar__minus_1_bar__minus_4_bar_0_bar_45)\n (objectAtLocation Bowl_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_25 loc_bar_10_bar_5_bar_2_bar_45)\n (objectAtLocation Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 loc_bar__minus_2_bar__minus_3_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_90_bar__plus_00_dot_91_bar__minus_01_dot_76 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Bowl_bar__plus_01_dot_88_bar__plus_01_dot_65_bar__minus_01_dot_80 loc_bar_4_bar__minus_5_bar_1_bar__minus_30)\n (objectAtLocation Tomato_bar__plus_01_dot_89_bar__plus_00_dot_87_bar__minus_00_dot_83 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__plus_01_dot_42_bar__plus_00_dot_91_bar__minus_02_dot_01 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_03_bar__plus_00_dot_80_bar__minus_02_dot_01 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_29_bar__plus_00_dot_76_bar__minus_01_dot_95 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Chair_bar__minus_00_dot_46_bar__plus_00_dot_01_bar__plus_00_dot_75 loc_bar__minus_2_bar_5_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_08_bar__plus_00_dot_01_bar__plus_00_dot_76 loc_bar_0_bar_5_bar_2_bar_60)\n (objectAtLocation HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 loc_bar__minus_2_bar__minus_5_bar_3_bar_45)\n (objectAtLocation Knife_bar__plus_01_dot_19_bar__plus_00_dot_93_bar__minus_02_dot_01 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_42_bar__plus_00_dot_91_bar__plus_00_dot_08 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Fork_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 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_01_dot_05_bar__plus_01_dot_17_bar__plus_00_dot_62 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Apple_bar__plus_02_dot_00_bar__plus_01_dot_15_bar__minus_00_dot_37 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_01_dot_91_bar__plus_01_dot_65_bar__minus_01_dot_54 loc_bar_4_bar__minus_5_bar_1_bar__minus_30)\n (objectAtLocation Potato_bar__plus_01_dot_42_bar__plus_00_dot_94_bar__minus_02_dot_10 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Pot_bar__minus_01_dot_09_bar__plus_00_dot_90_bar__plus_00_dot_24 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Bread_bar__minus_01_dot_15_bar__plus_00_dot_98_bar__minus_00_dot_19 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Plate_bar__plus_01_dot_89_bar__plus_01_dot_10_bar__minus_00_dot_64 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 loc_bar_2_bar_6_bar_0_bar_30)\n (objectAtLocation Spatula_bar__minus_00_dot_54_bar__plus_00_dot_71_bar__plus_00_dot_10 loc_bar_0_bar__minus_2_bar_0_bar_60)\n (objectAtLocation PaperTowelRoll_bar__plus_01_dot_87_bar__plus_01_dot_02_bar__minus_01_dot_93 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Vase_bar__minus_01_dot_16_bar__plus_00_dot_92_bar__minus_01_dot_64 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Egg_bar__minus_01_dot_25_bar__plus_00_dot_95_bar__minus_00_dot_41 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation SoapBottle_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 SaltShaker_bar__minus_01_dot_40_bar__plus_00_dot_91_bar__minus_01_dot_38 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__plus_02_dot_00_bar__plus_01_dot_50_bar__minus_00_dot_74 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__plus_00_dot_07_bar__plus_01_dot_13_bar__plus_00_dot_57 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation ButterKnife_bar__minus_00_dot_63_bar__plus_00_dot_91_bar__plus_00_dot_03 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation 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_42_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__minus_00_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_24 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_63_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_01_dot_40_bar__plus_00_dot_96_bar__minus_01_dot_72 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Mug_bar__plus_00_dot_06_bar__plus_00_dot_76_bar__minus_02_dot_12 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Statue_bar__plus_03_dot_00_bar__plus_00_dot_89_bar__plus_00_dot_20 loc_bar_8_bar_3_bar_1_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (coolable ?o)\n (objectType ?o PanType)\n (receptacleType ?r CabinetType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take pan 3 from countertop 1", "go to fridge 1", "cool pan 3 with fridge 1", "go to cabinet 16", "open cabinet 16", "move pan 3 to cabinet 16"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Pan-None-Cabinet-5/trial_T20190919_044853_269939/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Pan-None-Cabinet-5/trial_T20190919_044853_269939/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..73fec184b719af1431220e94028a1490d461d163 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Pan-None-Cabinet-5/trial_T20190919_044853_269939/initial_state.pddl @@ -0,0 +1,1254 @@ + +(define (problem plan_trial_T20190919_044853_269939) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__plus_02_dot_00_bar__plus_01_dot_15_bar__minus_00_dot_37 - object + Bowl_bar__plus_01_dot_88_bar__plus_01_dot_65_bar__minus_01_dot_80 - object + Bowl_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_25 - object + Bowl_bar__minus_00_dot_42_bar__plus_00_dot_91_bar__plus_00_dot_08 - object + Bread_bar__minus_01_dot_15_bar__plus_00_dot_98_bar__minus_00_dot_19 - object + ButterKnife_bar__minus_00_dot_63_bar__plus_00_dot_91_bar__plus_00_dot_03 - 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_59_bar__plus_01_dot_65_bar__minus_02_dot_09 - object + DishSponge_bar__minus_00_dot_42_bar__plus_00_dot_91_bar__plus_00_dot_24 - object + Egg_bar__plus_01_dot_78_bar__plus_01_dot_46_bar__minus_00_dot_55 - object + Egg_bar__minus_00_dot_03_bar__plus_00_dot_80_bar__minus_02_dot_01 - object + Egg_bar__minus_01_dot_25_bar__plus_00_dot_95_bar__minus_00_dot_41 - 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_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__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 - object + Knife_bar__plus_01_dot_19_bar__plus_00_dot_93_bar__minus_02_dot_01 - object + Ladle_bar__minus_00_dot_19_bar__plus_00_dot_15_bar__plus_00_dot_16 - object + Ladle_bar__minus_01_dot_05_bar__plus_01_dot_17_bar__plus_00_dot_62 - object + Lettuce_bar__plus_01_dot_95_bar__plus_01_dot_50_bar__minus_00_dot_46 - object + Lettuce_bar__plus_02_dot_00_bar__plus_01_dot_50_bar__minus_00_dot_74 - object + LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 - object + Mug_bar__plus_00_dot_06_bar__plus_00_dot_76_bar__minus_02_dot_12 - object + Mug_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_53 - object + Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 - object + Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 - object + Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 - object + PaperTowelRoll_bar__plus_01_dot_87_bar__plus_01_dot_02_bar__minus_01_dot_93 - object + PepperShaker_bar__plus_00_dot_07_bar__plus_01_dot_13_bar__plus_00_dot_57 - object + PepperShaker_bar__plus_01_dot_91_bar__plus_01_dot_66_bar__minus_01_dot_12 - object + PepperShaker_bar__minus_00_dot_90_bar__plus_00_dot_91_bar__minus_01_dot_76 - object + Plate_bar__plus_01_dot_89_bar__plus_01_dot_10_bar__minus_00_dot_64 - object + Plate_bar__minus_00_dot_61_bar__plus_00_dot_11_bar__plus_00_dot_13 - object + Potato_bar__plus_01_dot_42_bar__plus_00_dot_94_bar__minus_02_dot_10 - object + Potato_bar__plus_01_dot_84_bar__plus_01_dot_13_bar__minus_00_dot_46 - object + Pot_bar__minus_01_dot_09_bar__plus_00_dot_90_bar__plus_00_dot_24 - object + SaltShaker_bar__minus_01_dot_40_bar__plus_00_dot_91_bar__minus_01_dot_38 - object + Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 - object + SoapBottle_bar__plus_01_dot_42_bar__plus_00_dot_91_bar__minus_02_dot_01 - object + SoapBottle_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_00_dot_53 - object + SoapBottle_bar__minus_00_dot_60_bar__plus_01_dot_13_bar__plus_00_dot_66 - object + Spatula_bar__minus_00_dot_54_bar__plus_00_dot_71_bar__plus_00_dot_10 - object + Spoon_bar__minus_00_dot_29_bar__plus_00_dot_76_bar__minus_01_dot_95 - object + Spoon_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_71 - object + Spoon_bar__minus_00_dot_63_bar__plus_00_dot_91_bar__plus_00_dot_24 - object + Statue_bar__plus_03_dot_00_bar__plus_00_dot_89_bar__plus_00_dot_20 - object + Statue_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_00_dot_17 - object + StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_68 - object + StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_83 - object + StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_97 - object + StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_01_dot_12 - object + Tomato_bar__plus_01_dot_89_bar__plus_00_dot_87_bar__minus_00_dot_83 - object + Tomato_bar__plus_01_dot_96_bar__plus_00_dot_11_bar__plus_00_dot_14 - object + Tomato_bar__minus_01_dot_40_bar__plus_00_dot_96_bar__minus_01_dot_72 - object + Vase_bar__plus_01_dot_91_bar__plus_01_dot_65_bar__minus_01_dot_54 - object + Vase_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_24 - object + Vase_bar__minus_01_dot_16_bar__plus_00_dot_92_bar__minus_01_dot_64 - 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 + 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CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle Spoon_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_71 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle SoapBottle_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 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 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 Fork_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) + (inReceptacle Knife_bar__plus_01_dot_19_bar__plus_00_dot_93_bar__minus_02_dot_01 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle PaperTowelRoll_bar__plus_01_dot_87_bar__plus_01_dot_02_bar__minus_01_dot_93 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle SoapBottle_bar__plus_01_dot_42_bar__plus_00_dot_91_bar__minus_02_dot_01 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Tomato_bar__minus_01_dot_40_bar__plus_00_dot_96_bar__minus_01_dot_72 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle PepperShaker_bar__minus_00_dot_90_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 Potato_bar__plus_01_dot_42_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 SaltShaker_bar__minus_01_dot_40_bar__plus_00_dot_91_bar__minus_01_dot_38 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Vase_bar__minus_01_dot_16_bar__plus_00_dot_92_bar__minus_01_dot_64 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Tomato_bar__plus_01_dot_96_bar__plus_00_dot_11_bar__plus_00_dot_14 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14) + (inReceptacle Statue_bar__plus_03_dot_00_bar__plus_00_dot_89_bar__plus_00_dot_20 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14) + (inReceptacle Bowl_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_25 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14) + 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loc_bar_11_bar_6_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14 loc_bar_10_bar_5_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 loc_bar_8_bar_3_bar_1_bar_45) + (receptacleAtLocation Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin loc_bar_0_bar__minus_5_bar_2_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_00_dot_67 loc_bar__minus_2_bar__minus_3_bar_3_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13 loc_bar__minus_2_bar__minus_5_bar_3_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_00_dot_76 loc_bar__minus_2_bar__minus_3_bar_3_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_02 loc_bar__minus_2_bar__minus_4_bar_3_bar_45) + (receptacleAtLocation Toaster_bar__plus_00_dot_84_bar__plus_00_dot_90_bar__minus_02_dot_06 loc_bar_3_bar__minus_5_bar_2_bar_45) + (objectAtLocation Statue_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_00_dot_17 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (objectAtLocation Mug_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_53 loc_bar_2_bar_3_bar_3_bar_30) + (objectAtLocation Tomato_bar__plus_01_dot_96_bar__plus_00_dot_11_bar__plus_00_dot_14 loc_bar_8_bar_3_bar_2_bar_60) + (objectAtLocation Spoon_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_71 loc_bar_2_bar_3_bar_3_bar_30) + (objectAtLocation DishSponge_bar__plus_01_dot_59_bar__plus_01_dot_65_bar__minus_02_dot_09 loc_bar_4_bar__minus_5_bar_2_bar__minus_30) + (objectAtLocation PepperShaker_bar__plus_01_dot_91_bar__plus_01_dot_66_bar__minus_01_dot_12 loc_bar_4_bar__minus_5_bar_1_bar__minus_30) + (objectAtLocation Lettuce_bar__plus_01_dot_95_bar__plus_01_dot_50_bar__minus_00_dot_46 loc_bar_4_bar__minus_3_bar_1_bar_60) + (objectAtLocation SoapBottle_bar__minus_00_dot_60_bar__plus_01_dot_13_bar__plus_00_dot_66 loc_bar_2_bar_3_bar_3_bar_30) + (objectAtLocation Egg_bar__plus_01_dot_78_bar__plus_01_dot_46_bar__minus_00_dot_55 loc_bar_4_bar__minus_3_bar_1_bar_60) + (objectAtLocation Plate_bar__minus_00_dot_61_bar__plus_00_dot_11_bar__plus_00_dot_13 loc_bar__minus_2_bar__minus_4_bar_0_bar_45) + (objectAtLocation Potato_bar__plus_01_dot_84_bar__plus_01_dot_13_bar__minus_00_dot_46 loc_bar_4_bar__minus_3_bar_1_bar_60) + (objectAtLocation Ladle_bar__minus_00_dot_19_bar__plus_00_dot_15_bar__plus_00_dot_16 loc_bar__minus_1_bar__minus_4_bar_0_bar_45) + (objectAtLocation Bowl_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_25 loc_bar_10_bar_5_bar_2_bar_45) + (objectAtLocation Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 loc_bar__minus_2_bar__minus_3_bar_3_bar_45) + (objectAtLocation 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the cabinet" + ], + "task_desc": "Put a chilled pan in the bottom cabinet closest to the fridge.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3R19ZA45J8915_3TESA3PJ34RJPV6Q2FGJFLBFK7ZMMR", + "high_descs": [ + "Turn completely around to face the stove. ", + "Pick up the pan from the left back burner. ", + "Turn around completely and walk over to the fridge. ", + "Place the pan in the fridge, close the door, then open it the door and retrieve the pan. ", + "Open the white cabinet door that is under the counter to the right of the fridge. ", + "Place the pan inside the cabinet and close the door. " + ], + "task_desc": "Place a cooled off pan into a cabinet. ", + "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-Cabinet-5/trial_T20190919_052755_008638/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Pan-None-Cabinet-5/trial_T20190919_052755_008638/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..3605a61291b99ef62275f104f9c086f868122f7f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Pan-None-Cabinet-5/trial_T20190919_052755_008638/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 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_T20190919_052755_008638)\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_41_bar__plus_00_dot_96_bar__minus_00_dot_05 - object\n Bowl_bar__minus_00_dot_20_bar__plus_00_dot_76_bar__minus_02_dot_06 - object\n Bowl_bar__minus_00_dot_51_bar__plus_01_dot_12_bar__plus_00_dot_54 - object\n Bread_bar__minus_01_dot_18_bar__plus_01_dot_01_bar__minus_00_dot_14 - object\n ButterKnife_bar__plus_00_dot_01_bar__plus_00_dot_91_bar__plus_00_dot_24 - object\n ButterKnife_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_19 - object\n Chair_bar__minus_00_dot_08_bar__plus_00_dot_01_bar__plus_00_dot_76 - object\n Chair_bar__minus_00_dot_46_bar__plus_00_dot_01_bar__plus_00_dot_75 - object\n Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 - object\n DishSponge_bar__plus_00_dot_07_bar__plus_01_dot_13_bar__plus_00_dot_49 - object\n DishSponge_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_04 - object\n DishSponge_bar__minus_00_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_24 - object\n Egg_bar__plus_00_dot_97_bar__plus_00_dot_94_bar__minus_02_dot_27 - object\n Faucet_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_20 - object\n Fork_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__minus_02_dot_01 - object\n Fork_bar__minus_00_dot_60_bar__plus_01_dot_13_bar__plus_00_dot_44 - object\n HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 - object\n Kettle_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_19 - object\n Kettle_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 - object\n Kettle_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 - object\n Knife_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__minus_02_dot_06 - object\n Knife_bar__minus_00_dot_76_bar__plus_00_dot_72_bar__minus_01_dot_94 - object\n Ladle_bar__minus_00_dot_15_bar__plus_01_dot_17_bar__plus_00_dot_57 - object\n Ladle_bar__minus_00_dot_99_bar__plus_00_dot_92_bar__minus_00_dot_18 - object\n Ladle_bar__minus_01_dot_14_bar__plus_00_dot_95_bar__minus_02_dot_18 - object\n Lettuce_bar__plus_01_dot_92_bar__plus_00_dot_14_bar__plus_00_dot_11 - object\n LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 - object\n Mug_bar__plus_01_dot_42_bar__plus_00_dot_91_bar__minus_01_dot_84 - object\n Mug_bar__plus_01_dot_78_bar__plus_01_dot_01_bar__minus_01_dot_19 - object\n Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 - object\n PaperTowelRoll_bar__minus_01_dot_05_bar__plus_01_dot_24_bar__plus_00_dot_53 - object\n PepperShaker_bar__minus_00_dot_59_bar__plus_00_dot_69_bar__minus_01_dot_89 - object\n PepperShaker_bar__minus_00_dot_61_bar__plus_00_dot_69_bar__plus_00_dot_10 - object\n PepperShaker_bar__minus_01_dot_38_bar__plus_00_dot_91_bar__minus_02_dot_18 - object\n Plate_bar__plus_01_dot_19_bar__plus_00_dot_91_bar__minus_02_dot_01 - object\n Plate_bar__minus_00_dot_42_bar__plus_00_dot_91_bar__plus_00_dot_19 - object\n Potato_bar__minus_00_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_14 - object\n Pot_bar__minus_01_dot_09_bar__plus_00_dot_90_bar__plus_00_dot_24 - object\n SaltShaker_bar__minus_00_dot_69_bar__plus_00_dot_69_bar__minus_01_dot_89 - object\n Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 - object\n SoapBottle_bar__minus_01_dot_41_bar__plus_00_dot_91_bar__minus_00_dot_29 - object\n Spatula_bar__minus_00_dot_05_bar__plus_00_dot_71_bar__plus_00_dot_10 - object\n Spatula_bar__minus_00_dot_38_bar__plus_01_dot_15_bar__plus_00_dot_49 - object\n Spatula_bar__minus_00_dot_85_bar__plus_00_dot_93_bar__plus_00_dot_19 - object\n Spoon_bar__minus_00_dot_63_bar__plus_00_dot_91_bar__plus_00_dot_14 - object\n Spoon_bar__minus_01_dot_08_bar__plus_00_dot_91_bar__minus_01_dot_72 - object\n Statue_bar__plus_03_dot_00_bar__plus_00_dot_89_bar__plus_00_dot_17 - object\n StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_68 - object\n StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_83 - object\n StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_97 - object\n StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_01_dot_12 - object\n Tomato_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_76 - object\n Tomato_bar__minus_01_dot_24_bar__plus_00_dot_96_bar__minus_01_dot_47 - object\n Vase_bar__plus_02_dot_70_bar__plus_00_dot_87_bar__plus_00_dot_18 - object\n Vase_bar__plus_02_dot_98_bar__plus_00_dot_54_bar__plus_00_dot_13 - object\n Vase_bar__minus_00_dot_90_bar__plus_00_dot_91_bar__minus_02_dot_18 - 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__minus_2_bar__minus_1_bar_3_bar_45 - location\n loc_bar__minus_2_bar__minus_1_bar_0_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_5_bar_6_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_84 CabinetType)\n (receptacleType Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 ShelfType)\n (receptacleType Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_37_bar__minus_00_dot_01 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_01_dot_42 CabinetType)\n (receptacleType StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13 StoveBurnerType)\n (receptacleType 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CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Potato_bar__minus_00_dot_21_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 Plate_bar__minus_00_dot_42_bar__plus_00_dot_91_bar__plus_00_dot_19 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle ButterKnife_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_19 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle 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 Spatula_bar__minus_00_dot_85_bar__plus_00_dot_93_bar__plus_00_dot_19 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Spoon_bar__minus_00_dot_63_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 PepperShaker_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 PaperTowelRoll_bar__minus_01_dot_05_bar__plus_01_dot_24_bar__plus_00_dot_53 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle Bowl_bar__minus_00_dot_51_bar__plus_01_dot_12_bar__plus_00_dot_54 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle DishSponge_bar__plus_00_dot_07_bar__plus_01_dot_13_bar__plus_00_dot_49 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle Ladle_bar__minus_00_dot_15_bar__plus_01_dot_17_bar__plus_00_dot_57 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle Spatula_bar__minus_00_dot_38_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 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 Fork_bar__minus_00_dot_60_bar__plus_01_dot_13_bar__plus_00_dot_44 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\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 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 Spatula_bar__minus_00_dot_05_bar__plus_00_dot_71_bar__plus_00_dot_10 Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01)\n (inReceptacle Vase_bar__minus_00_dot_90_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 Mug_bar__plus_01_dot_42_bar__plus_00_dot_91_bar__minus_01_dot_84 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Tomato_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_76 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Egg_bar__plus_00_dot_97_bar__plus_00_dot_94_bar__minus_02_dot_27 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Tomato_bar__minus_01_dot_24_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)\n (inReceptacle Spoon_bar__minus_01_dot_08_bar__plus_00_dot_91_bar__minus_01_dot_72 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle PepperShaker_bar__minus_01_dot_38_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 Plate_bar__plus_01_dot_19_bar__plus_00_dot_91_bar__minus_02_dot_01 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Ladle_bar__minus_01_dot_14_bar__plus_00_dot_95_bar__minus_02_dot_18 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Lettuce_bar__plus_01_dot_92_bar__plus_00_dot_14_bar__plus_00_dot_11 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14)\n (inReceptacle Vase_bar__plus_02_dot_70_bar__plus_00_dot_87_bar__plus_00_dot_18 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14)\n (inReceptacle Statue_bar__plus_03_dot_00_bar__plus_00_dot_89_bar__plus_00_dot_17 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14)\n (inReceptacle Mug_bar__plus_01_dot_78_bar__plus_01_dot_01_bar__minus_01_dot_19 Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35)\n (inReceptacle DishSponge_bar__plus_02_dot_80_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 Kettle_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_19 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14)\n (inReceptacle Vase_bar__plus_02_dot_98_bar__plus_00_dot_54_bar__plus_00_dot_13 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14)\n (inReceptacleObject Spatula_bar__minus_00_dot_85_bar__plus_00_dot_93_bar__plus_00_dot_19 Pot_bar__minus_01_dot_09_bar__plus_00_dot_90_bar__plus_00_dot_24)\n (inReceptacleObject Spoon_bar__minus_00_dot_63_bar__plus_00_dot_91_bar__plus_00_dot_14 Plate_bar__minus_00_dot_42_bar__plus_00_dot_91_bar__plus_00_dot_19)\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 Fork_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__minus_02_dot_01 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Bowl_bar__minus_00_dot_20_bar__plus_00_dot_76_bar__minus_02_dot_06 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Knife_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__minus_02_dot_06 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\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 Mug_bar__plus_01_dot_78_bar__plus_01_dot_01_bar__minus_01_dot_19 loc_bar_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Tomato_bar__minus_01_dot_24_bar__plus_00_dot_96_bar__minus_01_dot_47 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_63_bar__plus_00_dot_91_bar__plus_00_dot_14 loc_bar__minus_2_bar__minus_1_bar_0_bar_60)\n (objectAtLocation DishSponge_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_04 loc_bar_10_bar_5_bar_2_bar_45)\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 PepperShaker_bar__minus_00_dot_59_bar__plus_00_dot_69_bar__minus_01_dot_89 loc_bar_0_bar__minus_5_bar_3_bar_45)\n (objectAtLocation Spatula_bar__minus_00_dot_38_bar__plus_01_dot_15_bar__plus_00_dot_49 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Plate_bar__plus_01_dot_19_bar__plus_00_dot_91_bar__minus_02_dot_01 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Kettle_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_19 loc_bar_10_bar_5_bar_2_bar_45)\n (objectAtLocation Ladle_bar__minus_00_dot_15_bar__plus_01_dot_17_bar__plus_00_dot_57 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Fork_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__minus_02_dot_01 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_51_bar__plus_01_dot_12_bar__plus_00_dot_54 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Knife_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__minus_02_dot_06 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__minus_01_dot_38_bar__plus_00_dot_91_bar__minus_02_dot_18 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Spatula_bar__minus_00_dot_05_bar__plus_00_dot_71_bar__plus_00_dot_10 loc_bar_3_bar__minus_2_bar_3_bar_45)\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 DishSponge_bar__plus_00_dot_07_bar__plus_01_dot_13_bar__plus_00_dot_49 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Ladle_bar__minus_00_dot_99_bar__plus_00_dot_92_bar__minus_00_dot_18 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Chair_bar__minus_00_dot_46_bar__plus_00_dot_01_bar__plus_00_dot_75 loc_bar__minus_2_bar_5_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_08_bar__plus_00_dot_01_bar__plus_00_dot_76 loc_bar_0_bar_5_bar_2_bar_60)\n (objectAtLocation HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 loc_bar__minus_2_bar__minus_5_bar_3_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_76_bar__plus_00_dot_72_bar__minus_01_dot_94 loc_bar_0_bar__minus_5_bar_3_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_20_bar__plus_00_dot_76_bar__minus_02_dot_06 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_60_bar__plus_01_dot_13_bar__plus_00_dot_44 loc_bar_2_bar_3_bar_3_bar_30)\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_01_dot_14_bar__plus_00_dot_95_bar__minus_02_dot_18 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_41_bar__plus_00_dot_96_bar__minus_00_dot_05 loc_bar__minus_2_bar__minus_2_bar_0_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 Vase_bar__minus_00_dot_90_bar__plus_00_dot_91_bar__minus_02_dot_18 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_14 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Pot_bar__minus_01_dot_09_bar__plus_00_dot_90_bar__plus_00_dot_24 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Bread_bar__minus_01_dot_18_bar__plus_01_dot_01_bar__minus_00_dot_14 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Plate_bar__minus_00_dot_42_bar__plus_00_dot_91_bar__plus_00_dot_19 loc_bar__minus_2_bar__minus_2_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_00_dot_85_bar__plus_00_dot_93_bar__plus_00_dot_19 loc_bar__minus_2_bar__minus_1_bar_3_bar_45)\n (objectAtLocation PaperTowelRoll_bar__minus_01_dot_05_bar__plus_01_dot_24_bar__plus_00_dot_53 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Vase_bar__plus_02_dot_70_bar__plus_00_dot_87_bar__plus_00_dot_18 loc_bar_8_bar_3_bar_1_bar_45)\n (objectAtLocation Egg_bar__plus_00_dot_97_bar__plus_00_dot_94_bar__minus_02_dot_27 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_41_bar__plus_00_dot_91_bar__minus_00_dot_29 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_69_bar__plus_00_dot_69_bar__minus_01_dot_89 loc_bar_0_bar__minus_5_bar_3_bar_45)\n (objectAtLocation Lettuce_bar__plus_01_dot_92_bar__plus_00_dot_14_bar__plus_00_dot_11 loc_bar_8_bar_3_bar_2_bar_60)\n (objectAtLocation PepperShaker_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 ButterKnife_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_19 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation 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_21_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_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_08_bar__plus_00_dot_91_bar__minus_01_dot_72 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Tomato_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_76 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Mug_bar__plus_01_dot_42_bar__plus_00_dot_91_bar__minus_01_dot_84 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation 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 (?o - object)\n (and\n (coolable ?o)\n (objectType ?o PanType)\n (receptacleType ?r CabinetType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to stoveburner 1", "take pan 1 from stoveburner 1", "go to fridge 1", "cool pan 1 with fridge 1", "go to cabinet 16", "open cabinet 16", "move pan 1 to cabinet 16"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Pan-None-Cabinet-5/trial_T20190919_052755_008638/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Pan-None-Cabinet-5/trial_T20190919_052755_008638/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..1dad4fa3cacd02f5f0b2c53d43b8ffa4ca02c216 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Pan-None-Cabinet-5/trial_T20190919_052755_008638/initial_state.pddl @@ -0,0 +1,1221 @@ + +(define (problem plan_trial_T20190919_052755_008638) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_41_bar__plus_00_dot_96_bar__minus_00_dot_05 - object + Bowl_bar__minus_00_dot_20_bar__plus_00_dot_76_bar__minus_02_dot_06 - object + Bowl_bar__minus_00_dot_51_bar__plus_01_dot_12_bar__plus_00_dot_54 - object + Bread_bar__minus_01_dot_18_bar__plus_01_dot_01_bar__minus_00_dot_14 - object + ButterKnife_bar__plus_00_dot_01_bar__plus_00_dot_91_bar__plus_00_dot_24 - object + ButterKnife_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_19 - 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_07_bar__plus_01_dot_13_bar__plus_00_dot_49 - object + DishSponge_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_04 - object + DishSponge_bar__minus_00_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_24 - object + Egg_bar__plus_00_dot_97_bar__plus_00_dot_94_bar__minus_02_dot_27 - object + Faucet_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_20 - object + Fork_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__minus_02_dot_01 - object + Fork_bar__minus_00_dot_60_bar__plus_01_dot_13_bar__plus_00_dot_44 - object + HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 - object + Kettle_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_19 - object + Kettle_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 - object + Kettle_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 - object + Knife_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__minus_02_dot_06 - object + Knife_bar__minus_00_dot_76_bar__plus_00_dot_72_bar__minus_01_dot_94 - object + Ladle_bar__minus_00_dot_15_bar__plus_01_dot_17_bar__plus_00_dot_57 - object + Ladle_bar__minus_00_dot_99_bar__plus_00_dot_92_bar__minus_00_dot_18 - object + Ladle_bar__minus_01_dot_14_bar__plus_00_dot_95_bar__minus_02_dot_18 - object + Lettuce_bar__plus_01_dot_92_bar__plus_00_dot_14_bar__plus_00_dot_11 - object + LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 - object + Mug_bar__plus_01_dot_42_bar__plus_00_dot_91_bar__minus_01_dot_84 - object + Mug_bar__plus_01_dot_78_bar__plus_01_dot_01_bar__minus_01_dot_19 - object + Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 - object + PaperTowelRoll_bar__minus_01_dot_05_bar__plus_01_dot_24_bar__plus_00_dot_53 - object + PepperShaker_bar__minus_00_dot_59_bar__plus_00_dot_69_bar__minus_01_dot_89 - object + PepperShaker_bar__minus_00_dot_61_bar__plus_00_dot_69_bar__plus_00_dot_10 - object + PepperShaker_bar__minus_01_dot_38_bar__plus_00_dot_91_bar__minus_02_dot_18 - object + Plate_bar__plus_01_dot_19_bar__plus_00_dot_91_bar__minus_02_dot_01 - object + Plate_bar__minus_00_dot_42_bar__plus_00_dot_91_bar__plus_00_dot_19 - object + Potato_bar__minus_00_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_14 - object + Pot_bar__minus_01_dot_09_bar__plus_00_dot_90_bar__plus_00_dot_24 - object + SaltShaker_bar__minus_00_dot_69_bar__plus_00_dot_69_bar__minus_01_dot_89 - object + Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 - object + SoapBottle_bar__minus_01_dot_41_bar__plus_00_dot_91_bar__minus_00_dot_29 - object + Spatula_bar__minus_00_dot_05_bar__plus_00_dot_71_bar__plus_00_dot_10 - object + Spatula_bar__minus_00_dot_38_bar__plus_01_dot_15_bar__plus_00_dot_49 - object + Spatula_bar__minus_00_dot_85_bar__plus_00_dot_93_bar__plus_00_dot_19 - object + Spoon_bar__minus_00_dot_63_bar__plus_00_dot_91_bar__plus_00_dot_14 - object + Spoon_bar__minus_01_dot_08_bar__plus_00_dot_91_bar__minus_01_dot_72 - 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__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_76 - object + Tomato_bar__minus_01_dot_24_bar__plus_00_dot_96_bar__minus_01_dot_47 - object + Vase_bar__plus_02_dot_70_bar__plus_00_dot_87_bar__plus_00_dot_18 - object + Vase_bar__plus_02_dot_98_bar__plus_00_dot_54_bar__plus_00_dot_13 - object + Vase_bar__minus_00_dot_90_bar__plus_00_dot_91_bar__minus_02_dot_18 - 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__minus_2_bar__minus_1_bar_3_bar_45 - location + loc_bar__minus_2_bar__minus_1_bar_0_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 + 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Tomato_bar__minus_01_dot_24_bar__plus_00_dot_96_bar__minus_01_dot_47) + (coolable Plate_bar__minus_00_dot_42_bar__plus_00_dot_91_bar__plus_00_dot_19) + (coolable Plate_bar__plus_01_dot_19_bar__plus_00_dot_91_bar__minus_02_dot_01) + (coolable Bowl_bar__minus_00_dot_51_bar__plus_01_dot_12_bar__plus_00_dot_54) + (coolable Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94) + (coolable Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02) + (coolable Mug_bar__plus_01_dot_42_bar__plus_00_dot_91_bar__minus_01_dot_84) + (coolable Apple_bar__minus_01_dot_41_bar__plus_00_dot_96_bar__minus_00_dot_05) + (coolable Egg_bar__plus_00_dot_97_bar__plus_00_dot_94_bar__minus_02_dot_27) + (coolable Mug_bar__plus_01_dot_78_bar__plus_01_dot_01_bar__minus_01_dot_19) + (coolable Pot_bar__minus_01_dot_09_bar__plus_00_dot_90_bar__plus_00_dot_24) + (coolable Lettuce_bar__plus_01_dot_92_bar__plus_00_dot_14_bar__plus_00_dot_11) + (coolable Tomato_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_76) + (coolable Bowl_bar__minus_00_dot_20_bar__plus_00_dot_76_bar__minus_02_dot_06) + + + + + + (sliceable Bread_bar__minus_01_dot_18_bar__plus_01_dot_01_bar__minus_00_dot_14) + (sliceable Potato_bar__minus_00_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_14) + (sliceable Tomato_bar__minus_01_dot_24_bar__plus_00_dot_96_bar__minus_01_dot_47) + (sliceable Apple_bar__minus_01_dot_41_bar__plus_00_dot_96_bar__minus_00_dot_05) + (sliceable Egg_bar__plus_00_dot_97_bar__plus_00_dot_94_bar__minus_02_dot_27) + (sliceable Lettuce_bar__plus_01_dot_92_bar__plus_00_dot_14_bar__plus_00_dot_11) + (sliceable Tomato_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_76) + + (inReceptacle SaltShaker_bar__minus_00_dot_69_bar__plus_00_dot_69_bar__minus_01_dot_89 Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69) + (inReceptacle Knife_bar__minus_00_dot_76_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 PepperShaker_bar__minus_00_dot_59_bar__plus_00_dot_69_bar__minus_01_dot_89 Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69) + (inReceptacle 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 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 Bread_bar__minus_01_dot_18_bar__plus_01_dot_01_bar__minus_00_dot_14 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle SoapBottle_bar__minus_01_dot_41_bar__plus_00_dot_91_bar__minus_00_dot_29 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Apple_bar__minus_01_dot_41_bar__plus_00_dot_96_bar__minus_00_dot_05 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_18 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle DishSponge_bar__minus_00_dot_21_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 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 Potato_bar__minus_00_dot_21_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 Plate_bar__minus_00_dot_42_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 ButterKnife_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_19 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (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) + (inReceptacle Spatula_bar__minus_00_dot_85_bar__plus_00_dot_93_bar__plus_00_dot_19 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Spoon_bar__minus_00_dot_63_bar__plus_00_dot_91_bar__plus_00_dot_14 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle PepperShaker_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 PaperTowelRoll_bar__minus_01_dot_05_bar__plus_01_dot_24_bar__plus_00_dot_53 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle Bowl_bar__minus_00_dot_51_bar__plus_01_dot_12_bar__plus_00_dot_54 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle DishSponge_bar__plus_00_dot_07_bar__plus_01_dot_13_bar__plus_00_dot_49 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle Ladle_bar__minus_00_dot_15_bar__plus_01_dot_17_bar__plus_00_dot_57 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle Spatula_bar__minus_00_dot_38_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 HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle Fork_bar__minus_00_dot_60_bar__plus_01_dot_13_bar__plus_00_dot_44 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13) + (inReceptacle 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 Spatula_bar__minus_00_dot_05_bar__plus_00_dot_71_bar__plus_00_dot_10 Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01) + (inReceptacle Vase_bar__minus_00_dot_90_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 Mug_bar__plus_01_dot_42_bar__plus_00_dot_91_bar__minus_01_dot_84 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Tomato_bar__plus_00_dot_97_bar__plus_00_dot_96_bar__minus_01_dot_76 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Egg_bar__plus_00_dot_97_bar__plus_00_dot_94_bar__minus_02_dot_27 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Tomato_bar__minus_01_dot_24_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 Spoon_bar__minus_01_dot_08_bar__plus_00_dot_91_bar__minus_01_dot_72 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle PepperShaker_bar__minus_01_dot_38_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 Plate_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 Ladle_bar__minus_01_dot_14_bar__plus_00_dot_95_bar__minus_02_dot_18 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Lettuce_bar__plus_01_dot_92_bar__plus_00_dot_14_bar__plus_00_dot_11 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14) + (inReceptacle Vase_bar__plus_02_dot_70_bar__plus_00_dot_87_bar__plus_00_dot_18 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14) + (inReceptacle Statue_bar__plus_03_dot_00_bar__plus_00_dot_89_bar__plus_00_dot_17 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14) + (inReceptacle Mug_bar__plus_01_dot_78_bar__plus_01_dot_01_bar__minus_01_dot_19 Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35) + (inReceptacle DishSponge_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_04 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14) + (inReceptacle Kettle_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 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) + (inReceptacleObject Spatula_bar__minus_00_dot_85_bar__plus_00_dot_93_bar__plus_00_dot_19 Pot_bar__minus_01_dot_09_bar__plus_00_dot_90_bar__plus_00_dot_24) + (inReceptacleObject Spoon_bar__minus_00_dot_63_bar__plus_00_dot_91_bar__plus_00_dot_14 Plate_bar__minus_00_dot_42_bar__plus_00_dot_91_bar__plus_00_dot_19) + (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 Fork_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__minus_02_dot_01 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Bowl_bar__minus_00_dot_20_bar__plus_00_dot_76_bar__minus_02_dot_06 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Knife_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__minus_02_dot_06 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + + + (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 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(receptacleAtLocation CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01 loc_bar_4_bar__minus_5_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57 loc_bar_2_bar_3_bar_3_bar_30) + (receptacleAtLocation CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01 loc_bar_3_bar__minus_2_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01 loc_bar_0_bar__minus_2_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69 loc_bar_0_bar__minus_5_bar_3_bar_45) + (receptacleAtLocation Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54 loc_bar_4_bar__minus_3_bar_1_bar_60) + (receptacleAtLocation 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loc_bar__minus_2_bar__minus_5_bar_3_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_00_dot_76 loc_bar__minus_2_bar__minus_3_bar_3_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_02 loc_bar__minus_2_bar__minus_4_bar_3_bar_45) + (receptacleAtLocation Toaster_bar__plus_00_dot_84_bar__plus_00_dot_90_bar__minus_02_dot_06 loc_bar_3_bar__minus_5_bar_2_bar_45) + (objectAtLocation Mug_bar__plus_01_dot_78_bar__plus_01_dot_01_bar__minus_01_dot_19 loc_bar_4_bar__minus_5_bar_1_bar_45) + (objectAtLocation Tomato_bar__minus_01_dot_24_bar__plus_00_dot_96_bar__minus_01_dot_47 loc_bar_4_bar__minus_5_bar_2_bar_45) + (objectAtLocation Spoon_bar__minus_00_dot_63_bar__plus_00_dot_91_bar__plus_00_dot_14 loc_bar__minus_2_bar__minus_1_bar_0_bar_60) + (objectAtLocation DishSponge_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_04 loc_bar_10_bar_5_bar_2_bar_45) + (objectAtLocation 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-2.18281436 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_8066794b", + "position": { + "x": 1.41928542, + "y": 0.9063, + "z": -1.84470069 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_14c38bc8", + "position": { + "x": -1.2899, + "y": 0.957, + "z": -1.02 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_84756f6d", + "position": { + "x": -0.376407981, + "y": 0.786883831, + "z": -2.06327963 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 1.40334191e-14 + } + }, + { + "objectName": "Bowl_4de763d6", + "position": { + "x": -0.5050436, + "y": 1.11999989, + "z": 0.5390041 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Fork_66b6c857", + "position": { + "x": -0.0310187489, + "y": 0.7639047, + "z": -2.008 + }, + "rotation": { + "x": 1.40334191e-14, + "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": -0.152033746, + "y": 1.1684401, + "z": 0.5739 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_3526507b", + "position": { + "x": -1.41390681, + "y": 0.962088466, + "z": -0.04846984 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Kettle_7c4fce22", + "position": { + "x": 2.79846716, + "y": 0.5530998, + "z": 0.19387342 + }, + "rotation": { + "x": 3.621837e-06, + "y": 270.000336, + "z": 3.62185733e-06 + } + }, + { + "objectName": "Vase_777c51a0", + "position": { + "x": -0.8979949, + "y": 0.9134594, + "z": -2.18281436 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_8a9da01b", + "position": { + "x": -0.205553234, + "y": 0.9439854, + "z": 0.135948449 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "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": -1.18158531, + "y": 1.00639319, + "z": -0.144548878 + }, + "rotation": { + "x": 359.9366, + "y": 22.3263149, + "z": 31.5595074 + } + }, + { + "objectName": "Plate_c0097cec", + "position": { + "x": 1.194489, + "y": 0.9097421, + "z": -2.014 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spatula_ef52a4ea", + "position": { + "x": -0.375432163, + "y": 1.1465, + "z": 0.485696 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "PaperTowelRoll_e7f3845e", + "position": { + "x": -1.04562736, + "y": 1.23578548, + "z": 0.529798 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Vase_f4e7dd3c", + "position": { + "x": 2.699, + "y": 0.869, + "z": 0.182 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Egg_c00db6cc", + "position": { + "x": 0.969692647, + "y": 0.9449739, + "z": -2.26794887 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_99ef625f", + "position": { + "x": -1.41390681, + "y": 0.9135983, + "z": -0.292477548 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_52c85e6d", + "position": { + "x": -0.691673338, + "y": 0.69072, + "z": -1.891 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_9396b7e6", + "position": { + "x": 1.924, + "y": 0.13962996, + "z": 0.109019831 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_b0cc376f", + "position": { + "x": -0.5894532, + "y": 0.69072, + "z": -1.891 + }, + "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": 2.79846621, + "y": 0.5516228, + "z": 0.03855218 + }, + "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": -0.63460803, + "y": 0.9146294, + "z": 0.135948449 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_74fc855a", + "position": { + "x": -1.23985851, + "y": 0.960860431, + "z": -1.46934056 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_8066794b", + "position": { + "x": 1.78121817, + "y": 1.01045275, + "z": -1.19275212 + }, + "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": 689801402, + "scene_num": 5 + }, + "task_id": "trial_T20190919_052755_008638", + "task_type": "pick_cool_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2A028LRDJB7ZB_337RC3OW08JI90IEGVGV24F3BT8VLY", + "high_descs": [ + "Turn to your left cross the room and head to the stove", + "Pick the pan on the far left of the stove", + "Turn around to your right go straight to the fridge", + "Open the fridge and put in and out the pan then close the door", + "Turn around to right move forward then turn to your left face the last cabinet beside the fridge", + "Open the cabinet then put in the pan and close the cabinet" + ], + "task_desc": "Put the cold pan on the cabinet", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_3IXEICO7950LDNBIOWAEC39LOD36TL", + "high_descs": [ + "Turn right and begin walking across the room, then hang a right and walk up to the counter, after that turn right and walk over to the oven.", + "Pick up the metal pan off of the back left burner of the stove.", + "Turn right and take a step forward, then turn left and walk over to the fridge.", + "Open the fridge door and place the pan inside on the bottom shelf and close the door, after a couple seconds open the fridge, take the pan out, and close the fridge doors.", + "Turn right and take a step forward, then turn right and start walking to the oven, turn left at the coffee machine and take a step forward and then turn left to face the counter.", + "Open the cabinet door below the counter and place the cold pan inside, then close the cabinet door." + ], + "task_desc": "Put a cold pan into a kitchen cabinet.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2V35L3RIRYYXV_3RXCAC0YIU64CW80XB85XYQN4FDG82", + "high_descs": [ + "Cross the room to the door, turn right then right again to face the stove.", + "Pick up the pan on the left side of the stove on the back burner. ", + "Turn around and face the refrigerator.", + "Open the refrigerator door and place the pan inside, close the door, open the door and pick up the pan.", + "Turn to face the lower white cabinet beside the refrigerator, to your right.", + "Open the cabinet door and place the pan inside the cabinet, close the cabinet door." + ], + "task_desc": "Place the pan inside the cabinet beside the refrigerator. ", + "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-PotatoSliced-None-GarbageCan-14/trial_T20190909_143434_000278/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-PotatoSliced-None-GarbageCan-14/trial_T20190909_143434_000278/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..2c32d77d6e9c4b1c87dc169ed6e16a55b3bece32 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-PotatoSliced-None-GarbageCan-14/trial_T20190909_143434_000278/initial_state.pddl @@ -0,0 +1,868 @@ + +(define (problem plan_trial_T20190909_143434_000278) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_80_bar__plus_00_dot_13_bar__plus_01_dot_59 - object + Apple_bar__plus_01_dot_83_bar__plus_00_dot_13_bar__plus_01_dot_73 - object + Apple_bar__minus_00_dot_69_bar__plus_00_dot_52_bar__minus_01_dot_48 - object + Bowl_bar__plus_00_dot_19_bar__plus_00_dot_90_bar__plus_01_dot_17 - object + Bowl_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__plus_00_dot_92 - object + Bread_bar__plus_00_dot_22_bar__plus_00_dot_99_bar__plus_00_dot_74 - object + Bread_bar__plus_01_dot_80_bar__plus_00_dot_99_bar__minus_01_dot_55 - object + ButterKnife_bar__plus_00_dot_22_bar__plus_00_dot_91_bar__plus_00_dot_92 - object + ButterKnife_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_00_dot_92 - object + ButterKnife_bar__plus_01_dot_84_bar__plus_00_dot_91_bar__plus_00_dot_57 - 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_59_bar__plus_00_dot_91_bar__minus_01_dot_72 - object + Cup_bar__plus_01_dot_81_bar__plus_01_dot_65_bar__minus_00_dot_35 - object + Cup_bar__minus_00_dot_74_bar__plus_00_dot_75_bar__minus_01_dot_52 - object + DishSponge_bar__plus_01_dot_24_bar__plus_00_dot_75_bar__minus_01_dot_65 - object + DishSponge_bar__plus_01_dot_36_bar__plus_00_dot_91_bar__minus_01_dot_25 - object + Egg_bar__plus_01_dot_77_bar__plus_01_dot_04_bar__minus_00_dot_84 - object + Faucet_bar__plus_01_dot_11_bar__plus_01_dot_14_bar__minus_01_dot_76 - object + Fork_bar__plus_01_dot_21_bar__plus_00_dot_75_bar__minus_01_dot_73 - object + Knife_bar__plus_01_dot_59_bar__plus_00_dot_94_bar__minus_01_dot_80 - object + Ladle_bar__plus_01_dot_76_bar__plus_00_dot_95_bar__plus_01_dot_09 - object + Lettuce_bar__plus_00_dot_86_bar__plus_00_dot_99_bar__plus_01_dot_12 - object + Lettuce_bar__minus_00_dot_69_bar__plus_01_dot_19_bar__minus_01_dot_59 - 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_81_bar__plus_00_dot_91_bar__minus_00_dot_32 - object + PepperShaker_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_29 - object + PepperShaker_bar__plus_01_dot_94_bar__plus_00_dot_91_bar__minus_01_dot_37 - object + Plate_bar__plus_01_dot_80_bar__plus_01_dot_65_bar_00_dot_00 - object + Potato_bar__plus_00_dot_48_bar__plus_00_dot_95_bar__plus_01_dot_18 - object + Potato_bar__plus_00_dot_96_bar__plus_00_dot_80_bar__minus_01_dot_71 - object + Potato_bar__plus_01_dot_45_bar__plus_00_dot_95_bar__plus_00_dot_42 - object + Potato_bar__plus_01_dot_68_bar__plus_00_dot_95_bar__plus_00_dot_42 - object + Pot_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__plus_00_dot_08 - object + SaltShaker_bar__plus_00_dot_93_bar__plus_00_dot_91_bar__minus_01_dot_26 - object + SaltShaker_bar__plus_01_dot_84_bar__plus_01_dot_64_bar__minus_01_dot_81 - object + Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60 - object + SoapBottle_bar__plus_01_dot_84_bar__plus_01_dot_63_bar__minus_00_dot_83 - object + SoapBottle_bar__plus_01_dot_84_bar__plus_01_dot_65_bar__minus_00_dot_50 - object + SoapBottle_bar__plus_01_dot_88_bar__plus_02_dot_13_bar__plus_01_dot_16 - object + Spatula_bar__plus_00_dot_48_bar__plus_00_dot_93_bar__plus_00_dot_83 - object + Spatula_bar__plus_01_dot_70_bar__plus_01_dot_08_bar__plus_00_dot_07 - object + Spoon_bar__plus_00_dot_96_bar__plus_00_dot_76_bar__minus_01_dot_60 - object + Spoon_bar__plus_00_dot_99_bar__plus_00_dot_91_bar__plus_00_dot_83 - object + Spoon_bar__plus_01_dot_84_bar__plus_00_dot_91_bar__plus_00_dot_42 - 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_65_bar__plus_00_dot_98_bar__minus_01_dot_26 - object + Tomato_bar__plus_01_dot_84_bar__plus_00_dot_97_bar__plus_00_dot_52 - object + Tomato_bar__minus_00_dot_74_bar__plus_00_dot_52_bar__minus_01_dot_61 - 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 + 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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_6_bar_9_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 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Apple_bar__minus_00_dot_69_bar__plus_00_dot_52_bar__minus_01_dot_48) + (pickupable SoapBottle_bar__plus_01_dot_84_bar__plus_01_dot_63_bar__minus_00_dot_83) + (pickupable SoapBottle_bar__plus_01_dot_88_bar__plus_02_dot_13_bar__plus_01_dot_16) + (pickupable Bread_bar__plus_00_dot_22_bar__plus_00_dot_99_bar__plus_00_dot_74) + (pickupable Spatula_bar__plus_01_dot_70_bar__plus_01_dot_08_bar__plus_00_dot_07) + (pickupable Tomato_bar__plus_00_dot_65_bar__plus_00_dot_98_bar__minus_01_dot_26) + (pickupable Egg_bar__plus_01_dot_77_bar__plus_01_dot_04_bar__minus_00_dot_84) + (pickupable Ladle_bar__plus_01_dot_76_bar__plus_00_dot_95_bar__plus_01_dot_09) + (pickupable Lettuce_bar__plus_00_dot_86_bar__plus_00_dot_99_bar__plus_01_dot_12) + (pickupable Pot_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__plus_00_dot_08) + (pickupable Tomato_bar__minus_00_dot_74_bar__plus_00_dot_52_bar__minus_01_dot_61) + (pickupable Tomato_bar__plus_01_dot_84_bar__plus_00_dot_97_bar__plus_00_dot_52) + (pickupable Potato_bar__plus_01_dot_45_bar__plus_00_dot_95_bar__plus_00_dot_42) + (pickupable Fork_bar__plus_01_dot_21_bar__plus_00_dot_75_bar__minus_01_dot_73) + (pickupable PepperShaker_bar__plus_01_dot_94_bar__plus_00_dot_91_bar__minus_01_dot_37) + (pickupable Bread_bar__plus_01_dot_80_bar__plus_00_dot_99_bar__minus_01_dot_55) + (pickupable SaltShaker_bar__plus_00_dot_93_bar__plus_00_dot_91_bar__minus_01_dot_26) + (pickupable Potato_bar__plus_00_dot_96_bar__plus_00_dot_80_bar__minus_01_dot_71) + (pickupable PepperShaker_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_29) + (pickupable Cup_bar__minus_00_dot_74_bar__plus_00_dot_75_bar__minus_01_dot_52) + (pickupable DishSponge_bar__plus_01_dot_36_bar__plus_00_dot_91_bar__minus_01_dot_25) + (pickupable Bowl_bar__plus_00_dot_19_bar__plus_00_dot_90_bar__plus_01_dot_17) + (isReceptacleObject Cup_bar__plus_01_dot_81_bar__plus_01_dot_65_bar__minus_00_dot_35) + (isReceptacleObject Mug_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_01_dot_46) + (isReceptacleObject Pan_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_32) + (isReceptacleObject Cup_bar__plus_01_dot_59_bar__plus_00_dot_91_bar__minus_01_dot_72) + (isReceptacleObject Bowl_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__plus_00_dot_92) + (isReceptacleObject Plate_bar__plus_01_dot_80_bar__plus_01_dot_65_bar_00_dot_00) + (isReceptacleObject Pot_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__plus_00_dot_08) + (isReceptacleObject Cup_bar__minus_00_dot_74_bar__plus_00_dot_75_bar__minus_01_dot_52) + (isReceptacleObject Bowl_bar__plus_00_dot_19_bar__plus_00_dot_90_bar__plus_01_dot_17) + (openable Fridge_bar__minus_00_dot_53_bar__plus_00_dot_00_bar__minus_01_dot_55) + (openable Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__plus_00_dot_19) + (openable Microwave_bar__plus_01_dot_75_bar__plus_00_dot_90_bar__minus_00_dot_84) + (openable Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__minus_00_dot_59) + (openable Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__plus_00_dot_67) + (openable Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_00_dot_61) + + (atLocation agent1 loc_bar_6_bar_9_bar_3_bar_30) + + (cleanable Lettuce_bar__minus_00_dot_69_bar__plus_01_dot_19_bar__minus_01_dot_59) + (cleanable Cup_bar__plus_01_dot_81_bar__plus_01_dot_65_bar__minus_00_dot_35) + (cleanable Apple_bar__plus_01_dot_80_bar__plus_00_dot_13_bar__plus_01_dot_59) + (cleanable ButterKnife_bar__plus_00_dot_22_bar__plus_00_dot_91_bar__plus_00_dot_92) + (cleanable Spoon_bar__plus_01_dot_84_bar__plus_00_dot_91_bar__plus_00_dot_42) + (cleanable Knife_bar__plus_01_dot_59_bar__plus_00_dot_94_bar__minus_01_dot_80) + (cleanable Apple_bar__plus_01_dot_83_bar__plus_00_dot_13_bar__plus_01_dot_73) + (cleanable Mug_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_01_dot_46) + (cleanable Potato_bar__plus_00_dot_48_bar__plus_00_dot_95_bar__plus_01_dot_18) + (cleanable DishSponge_bar__plus_01_dot_24_bar__plus_00_dot_75_bar__minus_01_dot_65) + (cleanable Pan_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_32) + (cleanable Cup_bar__plus_01_dot_59_bar__plus_00_dot_91_bar__minus_01_dot_72) + (cleanable ButterKnife_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_00_dot_92) + (cleanable Bowl_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__plus_00_dot_92) + (cleanable ButterKnife_bar__plus_01_dot_84_bar__plus_00_dot_91_bar__plus_00_dot_57) + (cleanable Spoon_bar__plus_00_dot_96_bar__plus_00_dot_76_bar__minus_01_dot_60) + (cleanable Plate_bar__plus_01_dot_80_bar__plus_01_dot_65_bar_00_dot_00) + (cleanable Potato_bar__plus_01_dot_68_bar__plus_00_dot_95_bar__plus_00_dot_42) + (cleanable Spatula_bar__plus_00_dot_48_bar__plus_00_dot_93_bar__plus_00_dot_83) + (cleanable Spoon_bar__plus_00_dot_99_bar__plus_00_dot_91_bar__plus_00_dot_83) + (cleanable Apple_bar__minus_00_dot_69_bar__plus_00_dot_52_bar__minus_01_dot_48) + (cleanable Spatula_bar__plus_01_dot_70_bar__plus_01_dot_08_bar__plus_00_dot_07) + (cleanable Tomato_bar__plus_00_dot_65_bar__plus_00_dot_98_bar__minus_01_dot_26) + (cleanable Egg_bar__plus_01_dot_77_bar__plus_01_dot_04_bar__minus_00_dot_84) + (cleanable Ladle_bar__plus_01_dot_76_bar__plus_00_dot_95_bar__plus_01_dot_09) + (cleanable Lettuce_bar__plus_00_dot_86_bar__plus_00_dot_99_bar__plus_01_dot_12) + (cleanable Pot_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__plus_00_dot_08) + (cleanable Tomato_bar__minus_00_dot_74_bar__plus_00_dot_52_bar__minus_01_dot_61) + (cleanable Tomato_bar__plus_01_dot_84_bar__plus_00_dot_97_bar__plus_00_dot_52) + (cleanable Potato_bar__plus_01_dot_45_bar__plus_00_dot_95_bar__plus_00_dot_42) + (cleanable Fork_bar__plus_01_dot_21_bar__plus_00_dot_75_bar__minus_01_dot_73) + (cleanable Potato_bar__plus_00_dot_96_bar__plus_00_dot_80_bar__minus_01_dot_71) + (cleanable Cup_bar__minus_00_dot_74_bar__plus_00_dot_75_bar__minus_01_dot_52) + (cleanable DishSponge_bar__plus_01_dot_36_bar__plus_00_dot_91_bar__minus_01_dot_25) + (cleanable Bowl_bar__plus_00_dot_19_bar__plus_00_dot_90_bar__plus_01_dot_17) + + (heatable Cup_bar__plus_01_dot_81_bar__plus_01_dot_65_bar__minus_00_dot_35) + (heatable Apple_bar__plus_01_dot_80_bar__plus_00_dot_13_bar__plus_01_dot_59) + (heatable Apple_bar__plus_01_dot_83_bar__plus_00_dot_13_bar__plus_01_dot_73) + (heatable Mug_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_01_dot_46) + (heatable Potato_bar__plus_00_dot_48_bar__plus_00_dot_95_bar__plus_01_dot_18) + (heatable Cup_bar__plus_01_dot_59_bar__plus_00_dot_91_bar__minus_01_dot_72) + (heatable Plate_bar__plus_01_dot_80_bar__plus_01_dot_65_bar_00_dot_00) + (heatable Potato_bar__plus_01_dot_68_bar__plus_00_dot_95_bar__plus_00_dot_42) + (heatable Apple_bar__minus_00_dot_69_bar__plus_00_dot_52_bar__minus_01_dot_48) + (heatable Bread_bar__plus_00_dot_22_bar__plus_00_dot_99_bar__plus_00_dot_74) + (heatable Tomato_bar__plus_00_dot_65_bar__plus_00_dot_98_bar__minus_01_dot_26) + (heatable Egg_bar__plus_01_dot_77_bar__plus_01_dot_04_bar__minus_00_dot_84) + (heatable Tomato_bar__minus_00_dot_74_bar__plus_00_dot_52_bar__minus_01_dot_61) + (heatable Tomato_bar__plus_01_dot_84_bar__plus_00_dot_97_bar__plus_00_dot_52) + (heatable Potato_bar__plus_01_dot_45_bar__plus_00_dot_95_bar__plus_00_dot_42) + (heatable Bread_bar__plus_01_dot_80_bar__plus_00_dot_99_bar__minus_01_dot_55) + (heatable Potato_bar__plus_00_dot_96_bar__plus_00_dot_80_bar__minus_01_dot_71) + (heatable Cup_bar__minus_00_dot_74_bar__plus_00_dot_75_bar__minus_01_dot_52) + (coolable Lettuce_bar__minus_00_dot_69_bar__plus_01_dot_19_bar__minus_01_dot_59) + (coolable Cup_bar__plus_01_dot_81_bar__plus_01_dot_65_bar__minus_00_dot_35) + (coolable Apple_bar__plus_01_dot_80_bar__plus_00_dot_13_bar__plus_01_dot_59) + (coolable Apple_bar__plus_01_dot_83_bar__plus_00_dot_13_bar__plus_01_dot_73) + (coolable Mug_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_01_dot_46) + (coolable Potato_bar__plus_00_dot_48_bar__plus_00_dot_95_bar__plus_01_dot_18) + (coolable Pan_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_32) + (coolable Cup_bar__plus_01_dot_59_bar__plus_00_dot_91_bar__minus_01_dot_72) + (coolable Bowl_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__plus_00_dot_92) + (coolable Plate_bar__plus_01_dot_80_bar__plus_01_dot_65_bar_00_dot_00) + (coolable Potato_bar__plus_01_dot_68_bar__plus_00_dot_95_bar__plus_00_dot_42) + (coolable Apple_bar__minus_00_dot_69_bar__plus_00_dot_52_bar__minus_01_dot_48) + (coolable Bread_bar__plus_00_dot_22_bar__plus_00_dot_99_bar__plus_00_dot_74) + (coolable Tomato_bar__plus_00_dot_65_bar__plus_00_dot_98_bar__minus_01_dot_26) + (coolable Egg_bar__plus_01_dot_77_bar__plus_01_dot_04_bar__minus_00_dot_84) + (coolable Lettuce_bar__plus_00_dot_86_bar__plus_00_dot_99_bar__plus_01_dot_12) + (coolable Pot_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__plus_00_dot_08) + (coolable Tomato_bar__minus_00_dot_74_bar__plus_00_dot_52_bar__minus_01_dot_61) + (coolable Tomato_bar__plus_01_dot_84_bar__plus_00_dot_97_bar__plus_00_dot_52) + (coolable Potato_bar__plus_01_dot_45_bar__plus_00_dot_95_bar__plus_00_dot_42) + (coolable Bread_bar__plus_01_dot_80_bar__plus_00_dot_99_bar__minus_01_dot_55) + (coolable Potato_bar__plus_00_dot_96_bar__plus_00_dot_80_bar__minus_01_dot_71) + (coolable Cup_bar__minus_00_dot_74_bar__plus_00_dot_75_bar__minus_01_dot_52) + (coolable Bowl_bar__plus_00_dot_19_bar__plus_00_dot_90_bar__plus_01_dot_17) + + + + + + (sliceable Lettuce_bar__minus_00_dot_69_bar__plus_01_dot_19_bar__minus_01_dot_59) + (sliceable Apple_bar__plus_01_dot_80_bar__plus_00_dot_13_bar__plus_01_dot_59) + (sliceable Apple_bar__plus_01_dot_83_bar__plus_00_dot_13_bar__plus_01_dot_73) + (sliceable Potato_bar__plus_00_dot_48_bar__plus_00_dot_95_bar__plus_01_dot_18) + (sliceable Potato_bar__plus_01_dot_68_bar__plus_00_dot_95_bar__plus_00_dot_42) + (sliceable Apple_bar__minus_00_dot_69_bar__plus_00_dot_52_bar__minus_01_dot_48) + (sliceable Bread_bar__plus_00_dot_22_bar__plus_00_dot_99_bar__plus_00_dot_74) + (sliceable Tomato_bar__plus_00_dot_65_bar__plus_00_dot_98_bar__minus_01_dot_26) + (sliceable Egg_bar__plus_01_dot_77_bar__plus_01_dot_04_bar__minus_00_dot_84) + (sliceable Lettuce_bar__plus_00_dot_86_bar__plus_00_dot_99_bar__plus_01_dot_12) + (sliceable Tomato_bar__minus_00_dot_74_bar__plus_00_dot_52_bar__minus_01_dot_61) + (sliceable Tomato_bar__plus_01_dot_84_bar__plus_00_dot_97_bar__plus_00_dot_52) + (sliceable Potato_bar__plus_01_dot_45_bar__plus_00_dot_95_bar__plus_00_dot_42) + (sliceable Bread_bar__plus_01_dot_80_bar__plus_00_dot_99_bar__minus_01_dot_55) + (sliceable Potato_bar__plus_00_dot_96_bar__plus_00_dot_80_bar__minus_01_dot_71) + + (inReceptacle Bread_bar__plus_00_dot_22_bar__plus_00_dot_99_bar__plus_00_dot_74 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02) + (inReceptacle Bowl_bar__plus_01_dot_76_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) + (inReceptacle ButterKnife_bar__plus_01_dot_84_bar__plus_00_dot_91_bar__plus_00_dot_57 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02) + (inReceptacle Ladle_bar__plus_01_dot_76_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) + (inReceptacle ButterKnife_bar__plus_00_dot_22_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) + (inReceptacle Lettuce_bar__plus_00_dot_86_bar__plus_00_dot_99_bar__plus_01_dot_12 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02) + (inReceptacle Spoon_bar__plus_01_dot_84_bar__plus_00_dot_91_bar__plus_00_dot_42 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02) + (inReceptacle Potato_bar__plus_01_dot_68_bar__plus_00_dot_95_bar__plus_00_dot_42 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02) + (inReceptacle Potato_bar__plus_00_dot_48_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) + (inReceptacle Tomato_bar__plus_01_dot_84_bar__plus_00_dot_97_bar__plus_00_dot_52 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02) + (inReceptacle Potato_bar__plus_01_dot_45_bar__plus_00_dot_95_bar__plus_00_dot_42 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02) + (inReceptacle Spatula_bar__plus_00_dot_48_bar__plus_00_dot_93_bar__plus_00_dot_83 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02) + (inReceptacle Spoon_bar__plus_00_dot_99_bar__plus_00_dot_91_bar__plus_00_dot_83 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02) + (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) + (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) + (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) + (inReceptacle Pan_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_32 StoveBurner_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_32) + (inReceptacle Tomato_bar__plus_00_dot_65_bar__plus_00_dot_98_bar__minus_01_dot_26 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52) + (inReceptacle PepperShaker_bar__plus_01_dot_94_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) + (inReceptacle SaltShaker_bar__plus_00_dot_93_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) + (inReceptacle Bread_bar__plus_01_dot_80_bar__plus_00_dot_99_bar__minus_01_dot_55 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52) + (inReceptacle PepperShaker_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_29 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52) + (inReceptacle Knife_bar__plus_01_dot_59_bar__plus_00_dot_94_bar__minus_01_dot_80 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52) + (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) + (inReceptacle DishSponge_bar__plus_01_dot_36_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) + (inReceptacle Cup_bar__plus_01_dot_59_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) + (inReceptacle Spatula_bar__plus_01_dot_70_bar__plus_01_dot_08_bar__plus_00_dot_07 StoveBurner_bar__plus_01_dot_55_bar__plus_00_dot_91_bar__plus_00_dot_08) + (inReceptacle SoapBottle_bar__plus_01_dot_88_bar__plus_02_dot_13_bar__plus_01_dot_16 Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_30_bar__plus_01_dot_31) + (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) + (inReceptacle SoapBottle_bar__plus_01_dot_84_bar__plus_01_dot_65_bar__minus_00_dot_50 Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__minus_00_dot_59) + (inReceptacle Cup_bar__plus_01_dot_81_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) + 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loc_bar_4_bar__minus_1_bar_1_bar_45) + (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) + (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) + (objectAtLocation Spoon_bar__plus_00_dot_99_bar__plus_00_dot_91_bar__plus_00_dot_83 loc_bar_4_bar_1_bar_0_bar_45) + (objectAtLocation DishSponge_bar__plus_01_dot_36_bar__plus_00_dot_91_bar__minus_01_dot_25 loc_bar_2_bar__minus_3_bar_2_bar_45) + (objectAtLocation PepperShaker_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_29 loc_bar_2_bar__minus_3_bar_2_bar_45) + (objectAtLocation Lettuce_bar__plus_00_dot_86_bar__plus_00_dot_99_bar__plus_01_dot_12 loc_bar_4_bar_1_bar_0_bar_45) + (objectAtLocation Bread_bar__plus_01_dot_80_bar__plus_00_dot_99_bar__minus_01_dot_55 loc_bar_2_bar__minus_3_bar_2_bar_45) + (objectAtLocation ButterKnife_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_00_dot_92 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(?r - receptacle) + (exists (?o - object) + (and + (sliceable ?o) + (isSliced ?o) + (coolable ?o) + (objectType ?o PotatoType) + (receptacleType ?r GarbageCanType) + (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-PotatoSliced-None-GarbageCan-14/trial_T20190909_143434_000278/traj_data.json b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-PotatoSliced-None-GarbageCan-14/trial_T20190909_143434_000278/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..6ee3973f14ab80127c747732b45fe288276e71d6 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-PotatoSliced-None-GarbageCan-14/trial_T20190909_143434_000278/traj_data.json @@ -0,0 +1,8305 @@ +{ + "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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that is in the kitchen sink.", + "Put the large metal knife in the kitchen sink.", + "Pick up a piece of sliced potato out of the sink.", + "Turn right and walk over to the fridge.", + "Open the fridge and put the piece of sliced potato inside then close the door, after a couple seconds open the fridge back up and remove the piece of sliced potato then close the door.", + "Turn around and walk across the room, then hang a right and walk up to the door, turn right to face the counter.", + "Put the chilled piece of sliced potato in the small black bin on the ground in front of the counter." + ], + "task_desc": "Put a chilled piece of sliced potato in a small back bin.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-PotatoSliced-None-GarbageCan-14/trial_T20190910_090143_488192/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-PotatoSliced-None-GarbageCan-14/trial_T20190910_090143_488192/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..dfdfed575f3b94a89ed7a0c2a123366dae1e4c78 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-PotatoSliced-None-GarbageCan-14/trial_T20190910_090143_488192/initial_state.pddl @@ -0,0 +1,831 @@ + +(define (problem plan_trial_T20190910_090143_488192) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_00_dot_97_bar__minus_01_dot_25 - object + Apple_bar__plus_01_dot_50_bar__plus_00_dot_97_bar__plus_01_dot_27 - object + Apple_bar__plus_01_dot_74_bar__plus_00_dot_13_bar__plus_01_dot_64 - object + Bowl_bar__plus_00_dot_19_bar__plus_00_dot_90_bar__plus_01_dot_17 - object + Bowl_bar__plus_01_dot_81_bar__plus_01_dot_64_bar__minus_01_dot_72 - object + Bread_bar__plus_01_dot_62_bar__plus_00_dot_98_bar__plus_00_dot_76 - object + ButterKnife_bar__plus_00_dot_99_bar__plus_00_dot_91_bar__plus_01_dot_00 - object + ButterKnife_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_63 - 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_92_bar__plus_00_dot_91_bar__plus_00_dot_42 - object + Cup_bar__minus_00_dot_64_bar__plus_01_dot_39_bar__minus_01_dot_66 - object + DishSponge_bar__plus_01_dot_78_bar__plus_02_dot_14_bar__plus_01_dot_24 - object + DishSponge_bar__plus_01_dot_84_bar__plus_01_dot_65_bar__minus_00_dot_31 - object + Egg_bar__plus_01_dot_53_bar__plus_00_dot_95_bar__plus_00_dot_36 - object + Egg_bar__plus_01_dot_71_bar__plus_01_dot_05_bar__minus_00_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_55_bar__plus_00_dot_91_bar__minus_01_dot_35 - object + Fork_bar__plus_01_dot_21_bar__plus_00_dot_75_bar__minus_01_dot_73 - object + Fork_bar__plus_01_dot_80_bar__plus_00_dot_91_bar__minus_01_dot_72 - object + Knife_bar__plus_00_dot_48_bar__plus_00_dot_94_bar__plus_00_dot_83 - object + Knife_bar__plus_01_dot_84_bar__plus_00_dot_94_bar__plus_00_dot_52 - object + Ladle_bar__plus_01_dot_20_bar__plus_00_dot_93_bar__plus_00_dot_74 - object + Lettuce_bar__plus_00_dot_86_bar__plus_00_dot_99_bar__plus_01_dot_12 - 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_54_bar__plus_00_dot_91_bar__minus_00_dot_32 - object + Pan_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_32 - object + PepperShaker_bar__plus_00_dot_48_bar__plus_00_dot_91_bar__plus_01_dot_27 - object + PepperShaker_bar__plus_01_dot_77_bar__plus_01_dot_63_bar__minus_01_dot_05 - object + Plate_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_01_dot_09 - object + Potato_bar__plus_00_dot_58_bar__plus_00_dot_90_bar__plus_00_dot_94 - object + Pot_bar__plus_01_dot_55_bar__plus_00_dot_91_bar__plus_00_dot_08 - object + SaltShaker_bar__plus_01_dot_36_bar__plus_00_dot_91_bar__minus_01_dot_26 - object + SaltShaker_bar__plus_01_dot_84_bar__plus_01_dot_63_bar__minus_01_dot_38 - object + SaltShaker_bar__plus_01_dot_94_bar__plus_00_dot_91_bar__minus_01_dot_72 - object + Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60 - object + SoapBottle_bar__plus_00_dot_22_bar__plus_00_dot_91_bar__plus_00_dot_74 - object + SoapBottle_bar__plus_01_dot_88_bar__plus_02_dot_14_bar__plus_00_dot_81 - object + Spatula_bar__plus_00_dot_73_bar__plus_00_dot_93_bar__plus_00_dot_92 - object + Spoon_bar__plus_01_dot_03_bar__plus_00_dot_76_bar__minus_01_dot_60 - 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__plus_01_dot_25_bar__plus_00_dot_97_bar__plus_00_dot_83 - object + Tomato_bar__plus_01_dot_66_bar__plus_00_dot_98_bar__minus_01_dot_29 - object + Tomato_bar__minus_00_dot_79_bar__plus_00_dot_81_bar__minus_01_dot_56 - 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_3_bar_3_bar_0_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 Knife_bar__plus_00_dot_48_bar__plus_00_dot_94_bar__plus_00_dot_83 KnifeType) + (objectType Potato_bar__plus_00_dot_58_bar__plus_00_dot_90_bar__plus_00_dot_94 PotatoType) + (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 Mug_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_01_dot_46 MugType) + (objectType Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60 SinkType) + (objectType Apple_bar__plus_01_dot_18_bar__plus_00_dot_97_bar__minus_01_dot_25 AppleType) + (objectType ButterKnife_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_63 ButterKnifeType) + (objectType Apple_bar__plus_01_dot_74_bar__plus_00_dot_13_bar__plus_01_dot_64 AppleType) + (objectType Pan_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_32 PanType) + (objectType Cup_bar__plus_01_dot_92_bar__plus_00_dot_91_bar__plus_00_dot_42 CupType) + (objectType Egg_bar__plus_01_dot_53_bar__plus_00_dot_95_bar__plus_00_dot_36 EggType) + (objectType SaltShaker_bar__plus_01_dot_36_bar__plus_00_dot_91_bar__minus_01_dot_26 SaltShakerType) + (objectType StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__plus_00_dot_09 StoveKnobType) + (objectType Tomato_bar__plus_01_dot_66_bar__plus_00_dot_98_bar__minus_01_dot_29 TomatoType) + (objectType SaltShaker_bar__plus_01_dot_94_bar__plus_00_dot_91_bar__minus_01_dot_72 SaltShakerType) + (objectType Apple_bar__plus_01_dot_50_bar__plus_00_dot_97_bar__plus_01_dot_27 AppleType) + (objectType Tomato_bar__minus_00_dot_79_bar__plus_00_dot_81_bar__minus_01_dot_56 TomatoType) + (objectType Tomato_bar__plus_01_dot_25_bar__plus_00_dot_97_bar__plus_00_dot_83 TomatoType) + (objectType StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_05 StoveKnobType) + (objectType Plate_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_01_dot_09 PlateType) + (objectType Window_bar__minus_00_dot_37_bar__plus_01_dot_59_bar__plus_03_dot_35 WindowType) + (objectType Bowl_bar__plus_01_dot_81_bar__plus_01_dot_64_bar__minus_01_dot_72 BowlType) + (objectType PepperShaker_bar__plus_01_dot_77_bar__plus_01_dot_63_bar__minus_01_dot_05 PepperShakerType) + (objectType Spatula_bar__plus_00_dot_73_bar__plus_00_dot_93_bar__plus_00_dot_92 SpatulaType) + (objectType StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_18 StoveKnobType) + (objectType PepperShaker_bar__plus_00_dot_48_bar__plus_00_dot_91_bar__plus_01_dot_27 PepperShakerType) + (objectType SoapBottle_bar__plus_00_dot_22_bar__plus_00_dot_91_bar__plus_00_dot_74 SoapBottleType) + (objectType Window_bar__plus_00_dot_78_bar__plus_01_dot_74_bar__minus_01_dot_89 WindowType) + (objectType Lettuce_bar__plus_00_dot_86_bar__plus_00_dot_99_bar__plus_01_dot_12 LettuceType) + (objectType Pot_bar__plus_01_dot_55_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 DishSponge_bar__plus_01_dot_84_bar__plus_01_dot_65_bar__minus_00_dot_31 DishSpongeType) + (objectType Ladle_bar__plus_01_dot_20_bar__plus_00_dot_93_bar__plus_00_dot_74 LadleType) + (objectType Spoon_bar__plus_01_dot_03_bar__plus_00_dot_76_bar__minus_01_dot_60 SpoonType) + (objectType Knife_bar__plus_01_dot_84_bar__plus_00_dot_94_bar__plus_00_dot_52 KnifeType) + (objectType Fork_bar__plus_01_dot_21_bar__plus_00_dot_75_bar__minus_01_dot_73 ForkType) + (objectType SaltShaker_bar__plus_01_dot_84_bar__plus_01_dot_63_bar__minus_01_dot_38 SaltShakerType) + (objectType Fork_bar__plus_01_dot_80_bar__plus_00_dot_91_bar__minus_01_dot_72 ForkType) + (objectType ButterKnife_bar__plus_00_dot_99_bar__plus_00_dot_91_bar__plus_01_dot_00 ButterKnifeType) + (objectType Bread_bar__plus_01_dot_62_bar__plus_00_dot_98_bar__plus_00_dot_76 BreadType) + (objectType 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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) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (sliceable ?o) + (isSliced ?o) + (coolable ?o) + (objectType ?o PotatoType) + (receptacleType ?r GarbageCanType) + (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-PotatoSliced-None-GarbageCan-14/trial_T20190910_090143_488192/traj_data.json b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-PotatoSliced-None-GarbageCan-14/trial_T20190910_090143_488192/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..4b5f6c126a0f2903eb19ff30bc98df4b5535e487 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-PotatoSliced-None-GarbageCan-14/trial_T20190910_090143_488192/traj_data.json @@ -0,0 +1,8329 @@ +{ + "images": [ + { + 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"votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AKW57KYG90X61_3BF51CHDTY18FSK6IL2PQ5G8UQ90H8", + "high_descs": [ + "move right to the table", + "pick up the knife", + "slice the potato on the table", + "move right on the table", + "drop the knife there", + "move left to the potato ", + "pick up a slice ", + "move left to the fridge ", + "cool the slice in the fridge and take it out", + "turn around and move to the bin", + "trash the slice in the bin" + ], + "task_desc": "trash a cold potato slice", + "votes": [ + 1, + 1, + 0 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-PotatoSliced-None-GarbageCan-22/trial_T20190909_040714_562307/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-PotatoSliced-None-GarbageCan-22/trial_T20190909_040714_562307/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..2fbabcc6f417790125a26c59b7dba11ef34eca1d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-PotatoSliced-None-GarbageCan-22/trial_T20190909_040714_562307/initial_state.pddl @@ -0,0 +1,1112 @@ + +(define (problem plan_trial_T20190909_040714_562307) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_92_bar__plus_00_dot_87_bar__plus_00_dot_93 - object + Apple_bar__minus_02_dot_92_bar__plus_01_dot_53_bar__plus_01_dot_01 - object + Bowl_bar__minus_02_dot_05_bar__plus_00_dot_90_bar__minus_01_dot_16 - object + Bread_bar__plus_01_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_12 - object + Bread_bar__minus_00_dot_40_bar__plus_00_dot_95_bar__minus_01_dot_29 - object + Bread_bar__minus_02_dot_74_bar__plus_01_dot_53_bar__plus_00_dot_77 - object + ButterKnife_bar__plus_00_dot_77_bar__plus_00_dot_91_bar__minus_01_dot_03 - object + ButterKnife_bar__minus_01_dot_51_bar__plus_00_dot_85_bar__minus_01_dot_19 - object + Chair_bar__plus_01_dot_07_bar__plus_00_dot_01_bar__plus_01_dot_56 - object + Chair_bar__plus_01_dot_56_bar__plus_00_dot_01_bar__plus_01_dot_36 - object + CreditCard_bar__plus_01_dot_00_bar__plus_00_dot_90_bar__minus_00_dot_98 - object + Cup_bar__minus_01_dot_12_bar__plus_00_dot_84_bar__minus_01_dot_24 - object + DishSponge_bar__minus_01_dot_22_bar__plus_00_dot_84_bar__minus_01_dot_13 - object + Egg_bar__plus_00_dot_35_bar__plus_01_dot_04_bar__minus_01_dot_28 - object + Egg_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__plus_01_dot_57 - object + Faucet_bar__minus_01_dot_39_bar__plus_01_dot_14_bar__minus_01_dot_40 - object + Fork_bar__minus_00_dot_12_bar__plus_01_dot_11_bar__plus_01_dot_84 - object + Fork_bar__minus_02_dot_60_bar__plus_00_dot_91_bar__minus_00_dot_06 - object + Fork_bar__minus_02_dot_84_bar__plus_00_dot_91_bar__minus_01_dot_03 - object + Kettle_bar__minus_00_dot_17_bar__plus_01_dot_11_bar__plus_01_dot_44 - object + Kettle_bar__minus_02_dot_62_bar__plus_00_dot_93_bar__minus_00_dot_71 - object + Knife_bar__minus_02_dot_44_bar__plus_00_dot_93_bar__plus_00_dot_11 - object + Knife_bar__minus_02_dot_60_bar__plus_00_dot_93_bar__plus_00_dot_28 - object + Lettuce_bar__plus_00_dot_13_bar__plus_01_dot_19_bar__plus_01_dot_74 - object + Lettuce_bar__plus_00_dot_77_bar__plus_00_dot_99_bar__minus_01_dot_28 - object + Lettuce_bar__minus_02_dot_74_bar__plus_01_dot_75_bar__plus_00_dot_77 - object + LightSwitch_bar__minus_01_dot_17_bar__plus_01_dot_31_bar__plus_03_dot_00 - object + Mug_bar__plus_00_dot_37_bar__plus_01_dot_65_bar__minus_01_dot_35 - object + Pan_bar__minus_02_dot_59_bar__plus_00_dot_90_bar__minus_01_dot_15 - object + PepperShaker_bar__minus_02_dot_83_bar__plus_00_dot_90_bar__minus_00_dot_11 - object + Plate_bar__plus_00_dot_28_bar__plus_01_dot_11_bar__plus_01_dot_89 - object + Plate_bar__plus_00_dot_96_bar__plus_01_dot_66_bar__minus_01_dot_32 - object + Potato_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_12 - object + Pot_bar__plus_00_dot_64_bar__plus_01_dot_11_bar__plus_01_dot_23 - object + Pot_bar__minus_02_dot_82_bar__plus_00_dot_93_bar__minus_00_dot_40 - object + SaltShaker_bar__minus_01_dot_71_bar__plus_01_dot_66_bar__minus_01_dot_40 - object + SaltShaker_bar__minus_02_dot_45_bar__plus_01_dot_66_bar__minus_01_dot_28 - object + SaltShaker_bar__minus_02_dot_81_bar__plus_01_dot_66_bar__plus_00_dot_17 - object + Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23 - object + SoapBottle_bar__minus_01_dot_12_bar__plus_00_dot_12_bar__minus_01_dot_03 - object + SoapBottle_bar__minus_02_dot_76_bar__plus_00_dot_04_bar__plus_01_dot_43 - object + Spatula_bar__minus_01_dot_07_bar__plus_00_dot_86_bar__minus_01_dot_31 - object + Spatula_bar__minus_01_dot_42_bar__plus_00_dot_87_bar__minus_01_dot_14 - object + Spoon_bar__plus_00_dot_24_bar__plus_01_dot_10_bar__plus_01_dot_17 - object + Spoon_bar__minus_01_dot_99_bar__plus_00_dot_75_bar__minus_01_dot_01 - object + Spoon_bar__minus_02_dot_67_bar__plus_00_dot_75_bar__minus_00_dot_03 - object + StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_32 - object + StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_48 - object + StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_62 - object + StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_78 - object + Tomato_bar__plus_00_dot_21_bar__plus_01_dot_15_bar__plus_01_dot_05 - object + Window_bar__plus_00_dot_32_bar__plus_01_dot_45_bar__plus_03_dot_09 - object + Cabinet_bar__plus_00_dot_17_bar__plus_02_dot_01_bar__minus_01_dot_20 - receptacle + Cabinet_bar__plus_00_dot_24_bar__plus_02_dot_01_bar__minus_01_dot_20 - receptacle + Cabinet_bar__plus_00_dot_48_bar__plus_00_dot_39_bar__minus_00_dot_90 - receptacle + Cabinet_bar__plus_01_dot_12_bar__plus_02_dot_01_bar__minus_01_dot_20 - receptacle + Cabinet_bar__plus_01_dot_13_bar__plus_00_dot_47_bar__minus_00_dot_90 - receptacle + Cabinet_bar__minus_00_dot_77_bar__plus_02_dot_01_bar__minus_01_dot_20 - receptacle + Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_00_dot_91 - receptacle + Cabinet_bar__minus_00_dot_84_bar__plus_02_dot_01_bar__minus_01_dot_20 - receptacle + Cabinet_bar__minus_01_dot_77_bar__plus_02_dot_01_bar__minus_01_dot_20 - receptacle + Cabinet_bar__minus_01_dot_80_bar__plus_00_dot_47_bar__minus_00_dot_91 - receptacle + Cabinet_bar__minus_01_dot_84_bar__plus_02_dot_01_bar__minus_01_dot_20 - receptacle + Cabinet_bar__minus_01_dot_85_bar__plus_00_dot_39_bar__minus_00_dot_90 - receptacle + Cabinet_bar__minus_02_dot_39_bar__plus_00_dot_39_bar__plus_00_dot_38 - receptacle + Cabinet_bar__minus_02_dot_63_bar__plus_02_dot_01_bar__minus_01_dot_20 - receptacle + Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_01_bar__plus_00_dot_36 - receptacle + 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Drawer_bar__minus_02_dot_57_bar__plus_00_dot_78_bar__plus_00_dot_10 - receptacle + Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85 - receptacle + GarbageCan_bar__minus_02_dot_76_bar__plus_00_dot_00_bar__plus_01_dot_47 - receptacle + Microwave_bar__plus_00_dot_28_bar__plus_00_dot_90_bar__minus_01_dot_33 - receptacle + Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23_bar_SinkBasin - receptacle + StoveBurner_bar__minus_02_dot_62_bar__plus_00_dot_89_bar__minus_00_dot_40 - receptacle + StoveBurner_bar__minus_02_dot_62_bar__plus_00_dot_89_bar__minus_00_dot_71 - receptacle + StoveBurner_bar__minus_02_dot_82_bar__plus_00_dot_89_bar__minus_00_dot_40 - receptacle + StoveBurner_bar__minus_02_dot_82_bar__plus_00_dot_89_bar__minus_00_dot_71 - receptacle + Toaster_bar__minus_02_dot_82_bar__plus_00_dot_90_bar__plus_00_dot_25 - receptacle + loc_bar_2_bar_0_bar_2_bar_45 - location + loc_bar_6_bar_7_bar_2_bar_60 - location + loc_bar__minus_6_bar__minus_1_bar_3_bar_45 - location + loc_bar__minus_5_bar_10_bar_0_bar_30 - location + loc_bar__minus_8_bar__minus_1_bar_2_bar_60 - location + loc_bar__minus_6_bar__minus_2_bar_2_bar__minus_30 - location + loc_bar__minus_8_bar_0_bar_2_bar_45 - location + loc_bar__minus_8_bar__minus_2_bar_2_bar_60 - location + loc_bar__minus_8_bar_0_bar_3_bar_45 - location + loc_bar_2_bar__minus_2_bar_2_bar__minus_30 - location + loc_bar__minus_8_bar__minus_2_bar_3_bar__minus_30 - location + loc_bar__minus_4_bar__minus_2_bar_2_bar__minus_30 - location + loc_bar__minus_8_bar__minus_2_bar_2_bar__minus_30 - location + loc_bar__minus_8_bar_0_bar_3_bar__minus_30 - location + loc_bar_0_bar__minus_2_bar_2_bar__minus_30 - location + loc_bar__minus_8_bar_1_bar_3_bar_45 - location + loc_bar__minus_5_bar__minus_2_bar_2_bar_45 - location + loc_bar_4_bar_8_bar_2_bar_60 - location + loc_bar__minus_2_bar_0_bar_2_bar_45 - location + loc_bar__minus_8_bar__minus_1_bar_2_bar__minus_15 - location + loc_bar__minus_7_bar_3_bar_3_bar_60 - location + loc_bar_2_bar_0_bar_2_bar_60 - location + loc_bar__minus_8_bar__minus_2_bar_3_bar_60 - location + loc_bar__minus_8_bar__minus_1_bar_3_bar_60 - location + loc_bar__minus_6_bar_7_bar_3_bar__minus_30 - location + loc_bar__minus_6_bar__minus_2_bar_3_bar__minus_15 - location + loc_bar__minus_3_bar__minus_2_bar_2_bar__minus_30 - location + loc_bar__minus_6_bar_1_bar_3_bar_60 - location + loc_bar__minus_6_bar_1_bar_3_bar__minus_30 - location + loc_bar_1_bar__minus_2_bar_2_bar_45 - location + loc_bar__minus_8_bar_6_bar_3_bar_60 - location + loc_bar_2_bar_0_bar_1_bar_45 - location + loc_bar__minus_1_bar_0_bar_2_bar_60 - location + loc_bar__minus_8_bar__minus_2_bar_2_bar_45 - location + loc_bar__minus_8_bar__minus_2_bar_3_bar_45 - location + loc_bar_1_bar_10_bar_0_bar_15 - location + loc_bar_2_bar__minus_2_bar_2_bar_45 - location + loc_bar__minus_2_bar_6_bar_1_bar_15 - location + loc_bar__minus_4_bar__minus_1_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__minus_00_dot_77_bar__plus_02_dot_01_bar__minus_01_dot_20 CabinetType) + (receptacleType StoveBurner_bar__minus_02_dot_82_bar__plus_00_dot_89_bar__minus_00_dot_40 StoveBurnerType) + (receptacleType CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79 CounterTopType) + (receptacleType Cabinet_bar__minus_01_dot_80_bar__plus_00_dot_47_bar__minus_00_dot_91 CabinetType) + (receptacleType Toaster_bar__minus_02_dot_82_bar__plus_00_dot_90_bar__plus_00_dot_25 ToasterType) + (receptacleType CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20 CounterTopType) + (receptacleType Microwave_bar__plus_00_dot_28_bar__plus_00_dot_90_bar__minus_01_dot_33 MicrowaveType) + (receptacleType Cabinet_bar__minus_02_dot_39_bar__plus_00_dot_39_bar__plus_00_dot_38 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_13_bar__plus_00_dot_47_bar__minus_00_dot_90 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_01_bar__plus_00_dot_36 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_08_bar__minus_00_dot_88 CabinetType) + (receptacleType Drawer_bar__plus_00_dot_26_bar__plus_00_dot_78_bar__minus_01_dot_08 DrawerType) + (receptacleType CounterTop_bar__minus_02_dot_70_bar__plus_00_dot_95_bar__plus_00_dot_11 CounterTopType) + (receptacleType GarbageCan_bar__minus_02_dot_76_bar__plus_00_dot_00_bar__plus_01_dot_47 GarbageCanType) + (receptacleType Cabinet_bar__minus_02_dot_63_bar__plus_02_dot_01_bar__minus_01_dot_20 CabinetType) + (receptacleType StoveBurner_bar__minus_02_dot_62_bar__plus_00_dot_89_bar__minus_00_dot_40 StoveBurnerType) + (receptacleType Cabinet_bar__minus_00_dot_84_bar__plus_02_dot_01_bar__minus_01_dot_20 CabinetType) + (receptacleType Cabinet_bar__plus_00_dot_48_bar__plus_00_dot_39_bar__minus_00_dot_90 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_20_bar__plus_01_dot_67 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SaltShaker_bar__minus_02_dot_45_bar__plus_01_dot_66_bar__minus_01_dot_28) + (pickupable Cup_bar__minus_01_dot_12_bar__plus_00_dot_84_bar__minus_01_dot_24) + (pickupable DishSponge_bar__minus_01_dot_22_bar__plus_00_dot_84_bar__minus_01_dot_13) + (isReceptacleObject Mug_bar__plus_00_dot_37_bar__plus_01_dot_65_bar__minus_01_dot_35) + (isReceptacleObject Plate_bar__plus_00_dot_28_bar__plus_01_dot_11_bar__plus_01_dot_89) + (isReceptacleObject Pot_bar__plus_00_dot_64_bar__plus_01_dot_11_bar__plus_01_dot_23) + (isReceptacleObject Plate_bar__plus_00_dot_96_bar__plus_01_dot_66_bar__minus_01_dot_32) + (isReceptacleObject Bowl_bar__minus_02_dot_05_bar__plus_00_dot_90_bar__minus_01_dot_16) + (isReceptacleObject Pot_bar__minus_02_dot_82_bar__plus_00_dot_93_bar__minus_00_dot_40) + (isReceptacleObject Pan_bar__minus_02_dot_59_bar__plus_00_dot_90_bar__minus_01_dot_15) + (isReceptacleObject Cup_bar__minus_01_dot_12_bar__plus_00_dot_84_bar__minus_01_dot_24) + (openable Cabinet_bar__minus_00_dot_77_bar__plus_02_dot_01_bar__minus_01_dot_20) + (openable Cabinet_bar__minus_01_dot_80_bar__plus_00_dot_47_bar__minus_00_dot_91) + (openable Microwave_bar__plus_00_dot_28_bar__plus_00_dot_90_bar__minus_01_dot_33) + (openable Cabinet_bar__minus_02_dot_39_bar__plus_00_dot_39_bar__plus_00_dot_38) + (openable Cabinet_bar__plus_01_dot_13_bar__plus_00_dot_47_bar__minus_00_dot_90) + (openable Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_01_bar__plus_00_dot_36) + (openable Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_08_bar__minus_00_dot_88) + (openable Drawer_bar__plus_00_dot_26_bar__plus_00_dot_78_bar__minus_01_dot_08) + (openable Cabinet_bar__minus_02_dot_63_bar__plus_02_dot_01_bar__minus_01_dot_20) + (openable Cabinet_bar__minus_00_dot_84_bar__plus_02_dot_01_bar__minus_01_dot_20) + (openable Cabinet_bar__plus_00_dot_48_bar__plus_00_dot_39_bar__minus_00_dot_90) + (openable Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_20_bar__plus_01_dot_67) + (openable Cabinet_bar__minus_01_dot_84_bar__plus_02_dot_01_bar__minus_01_dot_20) + (openable Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_08_bar__minus_00_dot_23) + (openable Cabinet_bar__plus_01_dot_12_bar__plus_02_dot_01_bar__minus_01_dot_20) + (openable Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_01_bar__minus_00_dot_95) + (openable Cabinet_bar__plus_00_dot_17_bar__plus_02_dot_01_bar__minus_01_dot_20) + (openable Cabinet_bar__plus_00_dot_24_bar__plus_02_dot_01_bar__minus_01_dot_20) + (openable Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85) + (openable Cabinet_bar__minus_01_dot_77_bar__plus_02_dot_01_bar__minus_01_dot_20) + (openable Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_00_dot_91) + (openable Cabinet_bar__minus_01_dot_85_bar__plus_00_dot_39_bar__minus_00_dot_90) + (openable Drawer_bar__minus_02_dot_57_bar__plus_00_dot_78_bar__plus_00_dot_10) + (openable Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_20_bar__plus_00_dot_43) + + (atLocation agent1 loc_bar__minus_4_bar__minus_1_bar_0_bar_30) + + (cleanable ButterKnife_bar__plus_00_dot_77_bar__plus_00_dot_91_bar__minus_01_dot_03) + (cleanable Spoon_bar__minus_01_dot_99_bar__plus_00_dot_75_bar__minus_01_dot_01) + (cleanable Spatula_bar__minus_01_dot_42_bar__plus_00_dot_87_bar__minus_01_dot_14) + (cleanable Fork_bar__minus_00_dot_12_bar__plus_01_dot_11_bar__plus_01_dot_84) + (cleanable ButterKnife_bar__minus_01_dot_51_bar__plus_00_dot_85_bar__minus_01_dot_19) + (cleanable Kettle_bar__minus_00_dot_17_bar__plus_01_dot_11_bar__plus_01_dot_44) + (cleanable Knife_bar__minus_02_dot_60_bar__plus_00_dot_93_bar__plus_00_dot_28) + (cleanable Egg_bar__plus_00_dot_35_bar__plus_01_dot_04_bar__minus_01_dot_28) + (cleanable Mug_bar__plus_00_dot_37_bar__plus_01_dot_65_bar__minus_01_dot_35) + (cleanable Fork_bar__minus_02_dot_84_bar__plus_00_dot_91_bar__minus_01_dot_03) + (cleanable Spoon_bar__minus_02_dot_67_bar__plus_00_dot_75_bar__minus_00_dot_03) + (cleanable Spoon_bar__plus_00_dot_24_bar__plus_01_dot_10_bar__plus_01_dot_17) + (cleanable Lettuce_bar__minus_02_dot_74_bar__plus_01_dot_75_bar__plus_00_dot_77) + (cleanable Knife_bar__minus_02_dot_44_bar__plus_00_dot_93_bar__plus_00_dot_11) + (cleanable Plate_bar__plus_00_dot_28_bar__plus_01_dot_11_bar__plus_01_dot_89) + (cleanable Apple_bar__minus_02_dot_92_bar__plus_00_dot_87_bar__plus_00_dot_93) + (cleanable Pot_bar__plus_00_dot_64_bar__plus_01_dot_11_bar__plus_01_dot_23) + (cleanable Kettle_bar__minus_02_dot_62_bar__plus_00_dot_93_bar__minus_00_dot_71) + (cleanable Plate_bar__plus_00_dot_96_bar__plus_01_dot_66_bar__minus_01_dot_32) + (cleanable Tomato_bar__plus_00_dot_21_bar__plus_01_dot_15_bar__plus_01_dot_05) + (cleanable Lettuce_bar__plus_00_dot_13_bar__plus_01_dot_19_bar__plus_01_dot_74) + (cleanable Potato_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_12) + (cleanable Fork_bar__minus_02_dot_60_bar__plus_00_dot_91_bar__minus_00_dot_06) + (cleanable Apple_bar__minus_02_dot_92_bar__plus_01_dot_53_bar__plus_01_dot_01) + (cleanable Bowl_bar__minus_02_dot_05_bar__plus_00_dot_90_bar__minus_01_dot_16) + (cleanable Spatula_bar__minus_01_dot_07_bar__plus_00_dot_86_bar__minus_01_dot_31) + (cleanable Pot_bar__minus_02_dot_82_bar__plus_00_dot_93_bar__minus_00_dot_40) + (cleanable Lettuce_bar__plus_00_dot_77_bar__plus_00_dot_99_bar__minus_01_dot_28) + (cleanable Egg_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__plus_01_dot_57) + (cleanable Pan_bar__minus_02_dot_59_bar__plus_00_dot_90_bar__minus_01_dot_15) + (cleanable Cup_bar__minus_01_dot_12_bar__plus_00_dot_84_bar__minus_01_dot_24) + (cleanable DishSponge_bar__minus_01_dot_22_bar__plus_00_dot_84_bar__minus_01_dot_13) + + (heatable Egg_bar__plus_00_dot_35_bar__plus_01_dot_04_bar__minus_01_dot_28) + (heatable Mug_bar__plus_00_dot_37_bar__plus_01_dot_65_bar__minus_01_dot_35) + (heatable Plate_bar__plus_00_dot_28_bar__plus_01_dot_11_bar__plus_01_dot_89) + (heatable Apple_bar__minus_02_dot_92_bar__plus_00_dot_87_bar__plus_00_dot_93) + (heatable Bread_bar__minus_02_dot_74_bar__plus_01_dot_53_bar__plus_00_dot_77) + (heatable Plate_bar__plus_00_dot_96_bar__plus_01_dot_66_bar__minus_01_dot_32) + (heatable Tomato_bar__plus_00_dot_21_bar__plus_01_dot_15_bar__plus_01_dot_05) + (heatable Potato_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_12) + (heatable Apple_bar__minus_02_dot_92_bar__plus_01_dot_53_bar__plus_01_dot_01) + (heatable Bread_bar__plus_01_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_12) + (heatable Bread_bar__minus_00_dot_40_bar__plus_00_dot_95_bar__minus_01_dot_29) + (heatable Egg_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__plus_01_dot_57) + (heatable Cup_bar__minus_01_dot_12_bar__plus_00_dot_84_bar__minus_01_dot_24) + (coolable Egg_bar__plus_00_dot_35_bar__plus_01_dot_04_bar__minus_01_dot_28) + (coolable Mug_bar__plus_00_dot_37_bar__plus_01_dot_65_bar__minus_01_dot_35) + (coolable Lettuce_bar__minus_02_dot_74_bar__plus_01_dot_75_bar__plus_00_dot_77) + (coolable Plate_bar__plus_00_dot_28_bar__plus_01_dot_11_bar__plus_01_dot_89) + (coolable Apple_bar__minus_02_dot_92_bar__plus_00_dot_87_bar__plus_00_dot_93) + (coolable Pot_bar__plus_00_dot_64_bar__plus_01_dot_11_bar__plus_01_dot_23) + (coolable Bread_bar__minus_02_dot_74_bar__plus_01_dot_53_bar__plus_00_dot_77) + (coolable Plate_bar__plus_00_dot_96_bar__plus_01_dot_66_bar__minus_01_dot_32) + (coolable Tomato_bar__plus_00_dot_21_bar__plus_01_dot_15_bar__plus_01_dot_05) + (coolable Lettuce_bar__plus_00_dot_13_bar__plus_01_dot_19_bar__plus_01_dot_74) + (coolable Potato_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_12) + (coolable Apple_bar__minus_02_dot_92_bar__plus_01_dot_53_bar__plus_01_dot_01) + (coolable Bowl_bar__minus_02_dot_05_bar__plus_00_dot_90_bar__minus_01_dot_16) + (coolable Pot_bar__minus_02_dot_82_bar__plus_00_dot_93_bar__minus_00_dot_40) + (coolable Lettuce_bar__plus_00_dot_77_bar__plus_00_dot_99_bar__minus_01_dot_28) + (coolable Bread_bar__plus_01_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_12) + (coolable Bread_bar__minus_00_dot_40_bar__plus_00_dot_95_bar__minus_01_dot_29) + (coolable Egg_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__plus_01_dot_57) + (coolable Pan_bar__minus_02_dot_59_bar__plus_00_dot_90_bar__minus_01_dot_15) + (coolable Cup_bar__minus_01_dot_12_bar__plus_00_dot_84_bar__minus_01_dot_24) + + + + + + (sliceable Egg_bar__plus_00_dot_35_bar__plus_01_dot_04_bar__minus_01_dot_28) + (sliceable Lettuce_bar__minus_02_dot_74_bar__plus_01_dot_75_bar__plus_00_dot_77) + (sliceable Apple_bar__minus_02_dot_92_bar__plus_00_dot_87_bar__plus_00_dot_93) + (sliceable Bread_bar__minus_02_dot_74_bar__plus_01_dot_53_bar__plus_00_dot_77) + (sliceable Tomato_bar__plus_00_dot_21_bar__plus_01_dot_15_bar__plus_01_dot_05) + (sliceable Lettuce_bar__plus_00_dot_13_bar__plus_01_dot_19_bar__plus_01_dot_74) + (sliceable Potato_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_12) + (sliceable Apple_bar__minus_02_dot_92_bar__plus_01_dot_53_bar__plus_01_dot_01) + (sliceable Lettuce_bar__plus_00_dot_77_bar__plus_00_dot_99_bar__minus_01_dot_28) + (sliceable Bread_bar__plus_01_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_12) + (sliceable Bread_bar__minus_00_dot_40_bar__plus_00_dot_95_bar__minus_01_dot_29) + (sliceable Egg_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__plus_01_dot_57) + + (inReceptacleObject Pan_bar__minus_02_dot_59_bar__plus_00_dot_90_bar__minus_01_dot_15 Pan_bar__minus_02_dot_59_bar__plus_00_dot_90_bar__minus_01_dot_15) + (inReceptacle SoapBottle_bar__minus_01_dot_12_bar__plus_00_dot_12_bar__minus_01_dot_03 Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_00_dot_91) + (inReceptacle SaltShaker_bar__minus_01_dot_71_bar__plus_01_dot_66_bar__minus_01_dot_40 Cabinet_bar__minus_01_dot_77_bar__plus_02_dot_01_bar__minus_01_dot_20) + (inReceptacle Plate_bar__plus_00_dot_96_bar__plus_01_dot_66_bar__minus_01_dot_32 Cabinet_bar__plus_01_dot_12_bar__plus_02_dot_01_bar__minus_01_dot_20) + (inReceptacle Mug_bar__plus_00_dot_37_bar__plus_01_dot_65_bar__minus_01_dot_35 Cabinet_bar__plus_00_dot_24_bar__plus_02_dot_01_bar__minus_01_dot_20) + (inReceptacle SaltShaker_bar__minus_02_dot_45_bar__plus_01_dot_66_bar__minus_01_dot_28 Cabinet_bar__minus_02_dot_63_bar__plus_02_dot_01_bar__minus_01_dot_20) + (inReceptacle SaltShaker_bar__minus_02_dot_81_bar__plus_01_dot_66_bar__plus_00_dot_17 Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_01_bar__plus_00_dot_36) + (inReceptacle Kettle_bar__minus_02_dot_62_bar__plus_00_dot_93_bar__minus_00_dot_71 StoveBurner_bar__minus_02_dot_62_bar__plus_00_dot_89_bar__minus_00_dot_71) + (inReceptacle Fork_bar__minus_02_dot_60_bar__plus_00_dot_91_bar__minus_00_dot_06 CounterTop_bar__minus_02_dot_70_bar__plus_00_dot_95_bar__plus_00_dot_11) + (inReceptacle Knife_bar__minus_02_dot_44_bar__plus_00_dot_93_bar__plus_00_dot_11 CounterTop_bar__minus_02_dot_70_bar__plus_00_dot_95_bar__plus_00_dot_11) + (inReceptacle Knife_bar__minus_02_dot_60_bar__plus_00_dot_93_bar__plus_00_dot_28 CounterTop_bar__minus_02_dot_70_bar__plus_00_dot_95_bar__plus_00_dot_11) + (inReceptacle PepperShaker_bar__minus_02_dot_83_bar__plus_00_dot_90_bar__minus_00_dot_11 CounterTop_bar__minus_02_dot_70_bar__plus_00_dot_95_bar__plus_00_dot_11) + (inReceptacle Spoon_bar__plus_00_dot_24_bar__plus_01_dot_10_bar__plus_01_dot_17 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79) + (inReceptacle Tomato_bar__plus_00_dot_21_bar__plus_01_dot_15_bar__plus_01_dot_05 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79) + (inReceptacle Plate_bar__plus_00_dot_28_bar__plus_01_dot_11_bar__plus_01_dot_89 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79) + (inReceptacle 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StoveBurner_bar__minus_02_dot_82_bar__plus_00_dot_89_bar__minus_00_dot_40) + (inReceptacle ButterKnife_bar__plus_00_dot_77_bar__plus_00_dot_91_bar__minus_01_dot_03 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20) + (inReceptacle Lettuce_bar__plus_00_dot_77_bar__plus_00_dot_99_bar__minus_01_dot_28 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20) + (inReceptacle Bread_bar__plus_01_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_12 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20) + (inReceptacle Bread_bar__minus_00_dot_40_bar__plus_00_dot_95_bar__minus_01_dot_29 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20) + (inReceptacle CreditCard_bar__plus_01_dot_00_bar__plus_00_dot_90_bar__minus_00_dot_98 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20) + (inReceptacle Pan_bar__minus_02_dot_59_bar__plus_00_dot_90_bar__minus_01_dot_15 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DishSponge_bar__minus_01_dot_22_bar__plus_00_dot_84_bar__minus_01_dot_13 loc_bar__minus_5_bar__minus_2_bar_2_bar_45) + (objectAtLocation Egg_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__plus_01_dot_57 loc_bar__minus_8_bar_6_bar_3_bar_60) + (objectAtLocation Spoon_bar__minus_02_dot_67_bar__plus_00_dot_75_bar__minus_00_dot_03 loc_bar__minus_6_bar__minus_1_bar_3_bar_45) + (objectAtLocation Knife_bar__minus_02_dot_60_bar__plus_00_dot_93_bar__plus_00_dot_28 loc_bar__minus_8_bar_0_bar_3_bar_45) + (objectAtLocation Cup_bar__minus_01_dot_12_bar__plus_00_dot_84_bar__minus_01_dot_24 loc_bar__minus_5_bar__minus_2_bar_2_bar_45) + (objectAtLocation Mug_bar__plus_00_dot_37_bar__plus_01_dot_65_bar__minus_01_dot_35 loc_bar_2_bar__minus_2_bar_2_bar__minus_30) + (objectAtLocation Bowl_bar__minus_02_dot_05_bar__plus_00_dot_90_bar__minus_01_dot_16 loc_bar_2_bar__minus_2_bar_2_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (sliceable ?o) + (isSliced ?o) + (coolable ?o) + (objectType ?o PotatoType) + (receptacleType ?r GarbageCanType) + (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-PotatoSliced-None-GarbageCan-22/trial_T20190909_040714_562307/traj_data.json b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-PotatoSliced-None-GarbageCan-22/trial_T20190909_040714_562307/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..8db9291c5670a1d70e08f89731ba5c1fadc6f354 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-PotatoSliced-None-GarbageCan-22/trial_T20190909_040714_562307/traj_data.json @@ -0,0 +1,11901 @@ +{ + "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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"SaltShaker_4f98d325", + "position": { + "x": -2.81003428, + "y": 1.66107655, + "z": 0.166740373 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_4f98d325", + "position": { + "x": -2.44529438, + "y": 1.65877759, + "z": -1.28460813 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_81a93477", + "position": { + "x": -2.74032044, + "y": 1.528507, + "z": 0.771237731 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Bread_81a93477", + "position": { + "x": 0.997561, + "y": 0.965819955, + "z": -1.11555123 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_a99f93a6", + "position": { + "x": -2.92097759, + "y": 0.8715684, + "z": 0.9327622 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Pan_304c8d90", + "position": { + "x": -2.59, + "y": 0.9, + "z": -1.147 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_a99f93a6", + "position": { + "x": -2.920978, + "y": 1.52560842, + "z": 1.01352465 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Fork_b9d165af", + "position": { + "x": -0.116797745, + "y": 1.11224866, + "z": 1.83819747 + }, + "rotation": { + "x": 0.0, + "y": 315.0001, + "z": 0.0 + } + }, + { + "objectName": "Kettle_1cf3b23c", + "position": { + "x": -0.168354928, + "y": 1.11274135, + "z": 1.4353137 + }, + "rotation": { + "x": 0.0, + "y": 315.0001, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_35b71b93", + "position": { + "x": 0.997390866, + "y": 0.9, + "z": -0.982281566 + }, + "rotation": { + "x": 0.0, + "y": 334.941345, + "z": 0.0 + } + }, + { + "objectName": "Bread_81a93477", + "position": { + "x": -0.40160045, + "y": 0.948319554, + "z": -1.291499 + }, + "rotation": { + "x": -0.000146990074, + "y": 0.000143258483, + "z": 9.013462e-05 + } + }, + { + "objectName": "Plate_ad96aa4f", + "position": { + "x": 0.28485465, + "y": 1.1135639, + "z": 1.88852167 + }, + "rotation": { + "x": 0.0, + "y": 315.0001, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_f346af22", + "position": { + "x": -2.75755763, + "y": 0.03733528, + "z": 1.43180835 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spatula_3b50a8bf", + "position": { + "x": -1.0733242, + "y": 0.864556, + "z": -1.30527985 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 1.40334183e-14 + } + }, + { + "objectName": "Lettuce_e2bf19ed", + "position": { + "x": -2.740321, + "y": 1.7524637, + "z": 0.7712377 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_4f98d325", + "position": { + "x": -1.70964479, + "y": 1.65877759, + "z": -1.39770389 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_9ffe4e75", + "position": { + "x": 0.206541851, + "y": 1.15207446, + "z": 1.05415571 + }, + "rotation": { + "x": 0.0270584114, + "y": 359.538879, + "z": 359.73175 + } + }, + { + "objectName": "PepperShaker_f59054f9", + "position": { + "x": -2.830618, + "y": 0.9, + "z": -0.112962961 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_dc49bd4c", + "position": { + "x": -1.50506091, + "y": 0.8517184, + "z": -1.19472015 + }, + "rotation": { + "x": 1.40334183e-14, + "y": 3.208973e-43, + "z": 2.89269767e-27 + } + }, + { + "objectName": "Pot_86f597c8", + "position": { + "x": -2.823, + "y": 0.9287, + "z": -0.3964 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_5ea35e17", + "position": { + "x": -0.598039, + "y": 0.9335, + "z": -1.119659 + }, + "rotation": { + "x": 0.0, + "y": 47.53002, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_9171dd8d", + "position": { + "x": -1.221, + "y": 0.8416841, + "z": -1.1264 + }, + "rotation": { + "x": 0.0, + "y": 41.1644974, + "z": 0.0 + } + }, + { + "objectName": "Egg_e02c5e35", + "position": { + "x": 0.3466089, + "y": 1.04062283, + "z": -1.28173554 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_4b9198b3", + "position": { + "x": -1.98756027, + "y": 0.7480786, + "z": -1.00898874 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_1fa5d324", + "position": { + "x": -2.438055, + "y": 0.9343805, + "z": 0.106099993 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_46773746", + "position": { + "x": -1.11968529, + "y": 0.8416991, + "z": -1.2411406 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_f88244ed", + "position": { + "x": 0.372600049, + "y": 1.65404749, + "z": -1.35359979 + }, + "rotation": { + "x": 359.610046, + "y": -3.68376641e-05, + "z": 0.00738341268 + } + }, + { + "objectName": "Bowl_b7a8ccec", + "position": { + "x": -2.046209, + "y": 0.9, + "z": -1.16398358 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 108313416, + "scene_num": 22 + }, + "task_id": "trial_T20190909_040714_562307", + "task_type": "pick_cool_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2RQMEPIHW5BOS_3AMW0RGHOGT3D5A124CSAQECOZ8PN5", + "high_descs": [ + "Turn around, and walk to the sink.", + "Pick up the knife.", + "Turn left, walk past the sink, and turn right.", + "Slice the potato on the counter.", + "Turn around, walk to the counter, turn left, and walk to the fridge.", + "Open the fridge, put the knife in the fridge, and close the fridge.", + "Turn around, walk to the counter, turn right, and walk to the counter.", + "Pick up a potato slice.", + "Turn around, walk to the counter, turn left, and walk to the fridge.", + "Open the fridge, put the potato slice in the fridge, close the fridge, open the fridge, pick up the potato slice, and close the fridge.", + "Face the trashcan to the right.", + "Put the potato slice in the trashcan." + ], + "task_desc": "Put a knife in the fridge, and a cold potato slice in the trashcan.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1O3TWBUDONVLO_3KAKFY4PGXT4SFUN7Q2TSFFUX6LI39", + "high_descs": [ + "Turn around and step forward to face the sink.", + "Pick up the knife in the sink.", + "Turn left to face the potato on the sink.", + "Cut the potato on the sink into slices.", + "Turn right and walk forward to face the fridge.", + "Place the knife in the fridge.", + "Turn left and step forward to face the counter.", + "Pick up a slice of potato on the counter.", + "Turn right and walk forward to face the fridge.", + "Cool the potato slice in the fridge and remove it.", + "Step to the right to face the trash can.", + "Place the potato slice in the trash can." + ], + "task_desc": "To cool a potato slice and place it in the trash can.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AISNLDPD2DFEG_3LUY3GC632REAKIEMXV3ETSMOMCP77", + "high_descs": [ + "Turn around and go to the sink", + "Pick up the knife in the sink", + "Move a bit to the left", + "Slice the potato on the counter", + "Turn around, go forward ,turn left and go to the fridge", + "Put the knife in the fridge", + "Turn around, go forward, turn right and go to the counter", + "Pick up an potato slice from the counter", + "Turn around, go forward ,turn left and go to the fridge", + "Put the potato slice in the fridge, wait, pick up the potato slice from the fridge", + "Move a bit to the right", + "Put the potato slice in the bin" + ], + "task_desc": "Slice a potato, cool a slice, an throw it into the bin", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-PotatoSliced-None-GarbageCan-22/trial_T20190909_041110_300557/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-PotatoSliced-None-GarbageCan-22/trial_T20190909_041110_300557/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..f9f70510acbc2f81b73bea0045c55ce8f2b28b00 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-PotatoSliced-None-GarbageCan-22/trial_T20190909_041110_300557/initial_state.pddl @@ -0,0 +1,1146 @@ + +(define (problem plan_trial_T20190909_041110_300557) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_24_bar__plus_01_dot_06_bar__minus_01_dot_38 - object + Apple_bar__minus_01_dot_51_bar__plus_00_dot_90_bar__minus_01_dot_08 - object + Apple_bar__minus_02_dot_44_bar__plus_00_dot_96_bar__minus_00_dot_15 - object + Bowl_bar__plus_00_dot_21_bar__plus_01_dot_11_bar__plus_01_dot_81 - object + Bowl_bar__minus_02_dot_80_bar__plus_00_dot_38_bar__plus_00_dot_69 - object + 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Drawer_bar__minus_02_dot_57_bar__plus_00_dot_78_bar__plus_00_dot_10) + (inReceptacle Spatula_bar__minus_02_dot_63_bar__plus_00_dot_76_bar__plus_00_dot_23 Drawer_bar__minus_02_dot_57_bar__plus_00_dot_78_bar__plus_00_dot_10) + (inReceptacle Pot_bar__minus_02_dot_82_bar__plus_00_dot_93_bar__minus_00_dot_40 StoveBurner_bar__minus_02_dot_82_bar__plus_00_dot_89_bar__minus_00_dot_40) + (inReceptacle Potato_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_12 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20) + (inReceptacle CreditCard_bar__plus_00_dot_77_bar__plus_00_dot_91_bar__minus_01_dot_03 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20) + (inReceptacle Spatula_bar__minus_02_dot_09_bar__plus_00_dot_93_bar__minus_01_dot_28 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20) + (inReceptacle Bread_bar__minus_00_dot_40_bar__plus_00_dot_95_bar__minus_01_dot_29 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20) + (inReceptacle Egg_bar__minus_00_dot_66_bar__plus_00_dot_95_bar__minus_01_dot_28 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20) + (inReceptacle ButterKnife_bar__plus_00_dot_92_bar__plus_00_dot_91_bar__minus_01_dot_12 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20) + (inReceptacle PepperShaker_bar__minus_02_dot_24_bar__plus_00_dot_91_bar__minus_01_dot_20 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20) + (inReceptacle Mug_bar__plus_01_dot_03_bar__plus_01_dot_15_bar__plus_00_dot_21 CoffeeMachine_bar__plus_01_dot_14_bar__plus_01_dot_10_bar__plus_00_dot_30) + (inReceptacleObject DishSponge_bar__minus_02_dot_74_bar__plus_02_dot_04_bar__plus_00_dot_72 Plate_bar__minus_02_dot_81_bar__plus_02_dot_05_bar__plus_00_dot_58) + (inReceptacle Spoon_bar__minus_01_dot_25_bar__plus_00_dot_85_bar__minus_01_dot_14 Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23_bar_SinkBasin) + (inReceptacle Egg_bar__minus_01_dot_42_bar__plus_00_dot_88_bar__minus_01_dot_36 Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23_bar_SinkBasin) + (inReceptacle Fork_bar__minus_01_dot_33_bar__plus_00_dot_85_bar__minus_01_dot_31 Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23_bar_SinkBasin) + (inReceptacle Apple_bar__minus_01_dot_51_bar__plus_00_dot_90_bar__minus_01_dot_08 Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23_bar_SinkBasin) + (inReceptacle Spatula_bar__minus_01_dot_59_bar__plus_00_dot_87_bar__minus_01_dot_31 Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23_bar_SinkBasin) + (inReceptacle Tomato_bar__minus_02_dot_73_bar__plus_00_dot_09_bar__plus_01_dot_47 GarbageCan_bar__minus_02_dot_76_bar__plus_00_dot_00_bar__plus_01_dot_47) + (inReceptacle Lettuce_bar__minus_02_dot_86_bar__plus_01_dot_75_bar__plus_00_dot_69 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CoffeeMachine_bar__plus_01_dot_14_bar__plus_01_dot_10_bar__plus_00_dot_30 loc_bar_2_bar_0_bar_1_bar_45) + (receptacleAtLocation CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20 loc_bar_2_bar__minus_2_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79 loc_bar__minus_2_bar_6_bar_1_bar_15) + (receptacleAtLocation CounterTop_bar__minus_02_dot_70_bar__plus_00_dot_95_bar__plus_00_dot_11 loc_bar__minus_8_bar_0_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_26_bar__plus_00_dot_78_bar__minus_01_dot_08 loc_bar_2_bar_0_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_03_bar__plus_00_dot_78_bar__minus_01_dot_08 loc_bar__minus_8_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_57_bar__plus_00_dot_78_bar__plus_00_dot_10 loc_bar__minus_6_bar__minus_1_bar_3_bar_45) + (receptacleAtLocation Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85 loc_bar__minus_7_bar_3_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_02_dot_76_bar__plus_00_dot_00_bar__plus_01_dot_47 loc_bar__minus_8_bar_6_bar_3_bar_60) + (receptacleAtLocation Microwave_bar__plus_00_dot_28_bar__plus_00_dot_90_bar__minus_01_dot_33 loc_bar_1_bar__minus_2_bar_2_bar_45) + (receptacleAtLocation Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23_bar_SinkBasin loc_bar__minus_5_bar__minus_2_bar_2_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_02_dot_62_bar__plus_00_dot_89_bar__minus_00_dot_40 loc_bar__minus_8_bar__minus_2_bar_3_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_02_dot_62_bar__plus_00_dot_89_bar__minus_00_dot_71 loc_bar__minus_8_bar__minus_2_bar_3_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_02_dot_82_bar__plus_00_dot_89_bar__minus_00_dot_40 loc_bar__minus_8_bar__minus_2_bar_3_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_02_dot_82_bar__plus_00_dot_89_bar__minus_00_dot_71 loc_bar__minus_8_bar__minus_2_bar_3_bar_45) + (receptacleAtLocation Toaster_bar__minus_02_dot_82_bar__plus_00_dot_90_bar__plus_00_dot_25 loc_bar__minus_8_bar_1_bar_3_bar_45) + (objectAtLocation Bowl_bar__minus_02_dot_80_bar__plus_00_dot_38_bar__plus_00_dot_69 loc_bar__minus_7_bar_3_bar_3_bar_60) + (objectAtLocation Mug_bar__minus_02_dot_74_bar__plus_01_dot_47_bar__plus_00_dot_77 loc_bar__minus_7_bar_3_bar_3_bar_60) + (objectAtLocation Cup_bar__plus_00_dot_63_bar__plus_01_dot_11_bar__plus_01_dot_56 loc_bar__minus_2_bar_6_bar_1_bar_15) + (objectAtLocation Knife_bar__minus_02_dot_67_bar__plus_00_dot_77_bar__plus_00_dot_23 loc_bar__minus_6_bar__minus_1_bar_3_bar_45) + (objectAtLocation Egg_bar__minus_00_dot_66_bar__plus_00_dot_95_bar__minus_01_dot_28 loc_bar_2_bar__minus_2_bar_2_bar_45) + (objectAtLocation DishSponge_bar__minus_01_dot_99_bar__plus_00_dot_75_bar__minus_01_dot_01 loc_bar__minus_8_bar__minus_2_bar_2_bar_60) + (objectAtLocation ButterKnife_bar__minus_02_dot_60_bar__plus_00_dot_91_bar__minus_00_dot_06 loc_bar__minus_8_bar_0_bar_3_bar_45) + (objectAtLocation PepperShaker_bar__minus_02_dot_24_bar__plus_00_dot_91_bar__minus_01_dot_20 loc_bar_2_bar__minus_2_bar_2_bar_45) + (objectAtLocation Tomato_bar__minus_02_dot_73_bar__plus_00_dot_09_bar__plus_01_dot_47 loc_bar__minus_8_bar_6_bar_3_bar_60) + (objectAtLocation SaltShaker_bar__plus_00_dot_91_bar__plus_01_dot_66_bar__minus_01_dot_28 loc_bar_2_bar__minus_2_bar_2_bar__minus_30) + (objectAtLocation Lettuce_bar__minus_02_dot_66_bar__plus_00_dot_87_bar__plus_00_dot_98 loc_bar__minus_7_bar_3_bar_3_bar_60) + (objectAtLocation Spatula_bar__minus_02_dot_63_bar__plus_00_dot_76_bar__plus_00_dot_23 loc_bar__minus_6_bar__minus_1_bar_3_bar_45) + (objectAtLocation Plate_bar__minus_00_dot_94_bar__plus_01_dot_66_bar__minus_01_dot_40 loc_bar__minus_4_bar__minus_2_bar_2_bar__minus_30) + (objectAtLocation Bread_bar__minus_00_dot_40_bar__plus_00_dot_95_bar__minus_01_dot_29 loc_bar_2_bar__minus_2_bar_2_bar_45) + (objectAtLocation Apple_bar__plus_00_dot_24_bar__plus_01_dot_06_bar__minus_01_dot_38 loc_bar_1_bar__minus_2_bar_2_bar_45) + (objectAtLocation Apple_bar__minus_02_dot_44_bar__plus_00_dot_96_bar__minus_00_dot_15 loc_bar__minus_8_bar_0_bar_3_bar_45) + (objectAtLocation SaltShaker_bar__minus_02_dot_77_bar__plus_01_dot_66_bar__plus_00_dot_30 loc_bar__minus_8_bar_0_bar_3_bar__minus_30) + (objectAtLocation PepperShaker_bar__minus_02_dot_11_bar__plus_01_dot_66_bar__minus_01_dot_40 loc_bar__minus_8_bar__minus_2_bar_2_bar__minus_30) + (objectAtLocation Bowl_bar__minus_02_dot_80_bar__plus_01_dot_47_bar__plus_01_dot_01 loc_bar__minus_7_bar_3_bar_3_bar_60) + (objectAtLocation Cup_bar__minus_02_dot_85_bar__plus_00_dot_91_bar__minus_00_dot_15 loc_bar__minus_8_bar_0_bar_3_bar_45) + (objectAtLocation Spatula_bar__minus_01_dot_59_bar__plus_00_dot_87_bar__minus_01_dot_31 loc_bar__minus_5_bar__minus_2_bar_2_bar_45) + (objectAtLocation 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(objectAtLocation StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_62 loc_bar__minus_8_bar__minus_2_bar_3_bar_60) + (objectAtLocation StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_48 loc_bar__minus_8_bar__minus_2_bar_3_bar_60) + (objectAtLocation StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_78 loc_bar__minus_8_bar__minus_2_bar_3_bar_60) + (objectAtLocation StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_32 loc_bar__minus_8_bar__minus_1_bar_3_bar_60) + (objectAtLocation Fork_bar__minus_01_dot_33_bar__plus_00_dot_85_bar__minus_01_dot_31 loc_bar__minus_5_bar__minus_2_bar_2_bar_45) + (objectAtLocation Kettle_bar__minus_02_dot_62_bar__plus_00_dot_92_bar__minus_00_dot_72 loc_bar__minus_8_bar__minus_2_bar_3_bar_45) + (objectAtLocation CreditCard_bar__plus_00_dot_77_bar__plus_00_dot_91_bar__minus_01_dot_03 loc_bar_2_bar__minus_2_bar_2_bar_45) + (objectAtLocation 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(objectAtLocation PepperShaker_bar__minus_02_dot_85_bar__plus_02_dot_04_bar__plus_00_dot_93 loc_bar__minus_6_bar_1_bar_3_bar__minus_30) + (objectAtLocation ButterKnife_bar__plus_00_dot_92_bar__plus_00_dot_91_bar__minus_01_dot_12 loc_bar_2_bar__minus_2_bar_2_bar_45) + (objectAtLocation Pot_bar__minus_02_dot_82_bar__plus_00_dot_93_bar__minus_00_dot_40 loc_bar__minus_8_bar__minus_2_bar_3_bar_45) + (objectAtLocation Potato_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_12 loc_bar_2_bar__minus_2_bar_2_bar_45) + (objectAtLocation DishSponge_bar__minus_02_dot_74_bar__plus_02_dot_04_bar__plus_00_dot_72 loc_bar__minus_8_bar_1_bar_3_bar__minus_30) + (objectAtLocation Egg_bar__minus_01_dot_42_bar__plus_00_dot_88_bar__minus_01_dot_36 loc_bar__minus_5_bar__minus_2_bar_2_bar_45) + (objectAtLocation Spoon_bar__minus_01_dot_25_bar__plus_00_dot_85_bar__minus_01_dot_14 loc_bar__minus_5_bar__minus_2_bar_2_bar_45) + (objectAtLocation 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0.0 + } + }, + { + "objectName": "SaltShaker_4f98d325", + "position": { + "x": -2.772772, + "y": 1.66107655, + "z": 0.300017655 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_81a93477", + "position": { + "x": -2.80053949, + "y": 0.8743418, + "z": 0.690475 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Mug_f88244ed", + "position": { + "x": 1.02924943, + "y": 1.145, + "z": 0.209302634 + }, + "rotation": { + "x": 0.0, + "y": 228.424088, + "z": 0.0 + } + }, + { + "objectName": "Apple_a99f93a6", + "position": { + "x": -1.50506079, + "y": 0.901302755, + "z": -1.08416045 + }, + "rotation": { + "x": 1.40334183e-14, + "y": 3.208973e-43, + "z": 2.89269767e-27 + } + }, + { + "objectName": "Apple_a99f93a6", + "position": { + "x": -2.438055, + "y": 0.9630466, + "z": -0.147414446 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_304c8d90", + "position": { + "x": 0.759770453, + "y": 1.11037362, + "z": 0.6525471 + }, + "rotation": { + "x": 0.0, + "y": 315.0001, + "z": 0.0 + } + }, + { + "objectName": "Apple_a99f93a6", + "position": { + "x": 0.241928414, + "y": 1.0609746, + "z": -1.38111067 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Fork_b9d165af", + "position": { + "x": -1.33236611, + "y": 0.8522075, + "z": -1.30527985 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 1.40334183e-14 + } + }, + { + "objectName": "Kettle_1cf3b23c", + "position": { + "x": -2.62011266, + "y": 0.922509432, + "z": -0.724260747 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_35b71b93", + "position": { + "x": 0.765533566, + "y": 0.9082959, + "z": -1.03210258 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_81a93477", + "position": { + "x": -0.401600242, + "y": 0.9483111, + "z": -1.29149914 + }, + "rotation": { + "x": -6.606445e-05, + "y": 0.000109296823, + "z": -3.90752139e-05 + } + }, + { + "objectName": "Plate_ad96aa4f", + "position": { + "x": -0.9412599, + "y": 1.66433525, + "z": -1.39770389 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_f346af22", + "position": { + "x": -0.21064654, + "y": 1.66372752, + "z": -1.28460813 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spatula_3b50a8bf", + "position": { + "x": -2.62819934, + "y": 0.7618272, + "z": 0.226726711 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_e2bf19ed", + "position": { + "x": -2.6608, + "y": 0.8744, + "z": 0.9831 + }, + "rotation": { + "x": 31.0465031, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_4f98d325", + "position": { + "x": 0.9121754, + "y": 1.65877759, + "z": -1.28460813 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_9ffe4e75", + "position": { + "x": -2.7283597, + "y": 0.0870659351, + "z": 1.46684813 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_f59054f9", + "position": { + "x": -2.2369647, + "y": 0.9076061, + "z": -1.199 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_dc49bd4c", + "position": { + "x": -2.60430479, + "y": 0.9113421, + "z": -0.0629096553 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pot_86f597c8", + "position": { + "x": -2.823, + "y": 0.9287, + "z": -0.3964 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_5ea35e17", + "position": { + "x": -0.598039, + "y": 0.9335, + "z": -1.119659 + }, + "rotation": { + "x": 0.0, + "y": 47.53002, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_9171dd8d", + "position": { + "x": -1.98756027, + "y": 0.7465134, + "z": -1.00898874 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Egg_e02c5e35", + "position": { + "x": -0.662034154, + "y": 0.9464633, + "z": -1.28244853 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_4b9198b3", + "position": { + "x": -1.24601889, + "y": 0.852797, + "z": -1.1394403 + }, + "rotation": { + "x": 1.40334183e-14, + "y": 3.208973e-43, + "z": 2.89269767e-27 + } + }, + { + "objectName": "Knife_1fa5d324", + "position": { + "x": -2.6711688, + "y": 0.7696693, + "z": 0.226726711 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_46773746", + "position": { + "x": 0.62518394, + "y": 1.11037946, + "z": 1.55675328 + }, + "rotation": { + "x": 0.0, + "y": 315.0001, + "z": 0.0 + } + }, + { + "objectName": "Mug_f88244ed", + "position": { + "x": -2.740321, + "y": 1.46886182, + "z": 0.7712377 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Bowl_b7a8ccec", + "position": { + "x": -2.80053949, + "y": 0.3774938, + "z": 0.6904742 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2668914606, + "scene_num": 22 + }, + "task_id": "trial_T20190909_041110_300557", + "task_type": "pick_cool_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A271V19C06841K_3VJ40NV2QLEJNI3KK0LPUPFE3ECOT6", + "high_descs": [ + "turn around, turn left to the counter", + "pick up knife from counter", + "turn around, turn right to the counter", + "slice the potato on the counter", + "turn around, turn left to the fridge ", + "open door, place knife on to the shelf, close door", + "turn around, turn right to the counter", + "pick up slice of potato from counter ", + "turn around, turn left to the fridge ", + "open fridge door, place potato on shelf, close door, open door, take potato out, close door", + "turn right, turn left to the trash can", + "place potato into trash can" + ], + "task_desc": "pick up knife, cut potato, put in fridge, remove from fridge, place in trash can ", + "votes": [ + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2KAGFQU28JY43_3MRNMEIQW8X4084QLI5IX4TY5NLLD5", + "high_descs": [ + "Turn to your right and go across the kitchen to the counter top between the stove and the refrigerator. ", + "Pick up the knife to the right of the apple on the counter top. ", + "Turn around and walk across the kitchen, then turn to the counter top on your right, just before the microwave. ", + "Cut the potato in front of the egg, on the counter, into slices. ", + "Turn around and go to the end of the counter, then turn to your left and go to the refrigerator. ", + "Place the knife on the top shelf of the refrigerator, in front of the loaf of bread. ", + "Turn around and go back to the end of the counter, turn right and go to the counter across from you where the potato is. ", + "Pick up one of the potato slices. ", + "Turn around and go to the end of the counter, then turn to your left and go to the refrigerator. ", + "Place the tomato slice on the top shelf of the refrigerator, to the right of the head of lettuce, wait a moment for the potato slice to chill, then remove the potato slice from the refrigerator. ", + "Move over to your right, to the garbage bin on the floor to the right of the refrigerator. ", + "Put the potato slice in the garbage bin on the floor. " + ], + "task_desc": "Put a knife in the refrigerator and a cold potato slice in the garbage. ", + "votes": [ + 1, + 1, + 1, + 0, + 1 + ] + }, + { + "assignment_id": "A31681CCEVDIH3_3MHW492WW34A07MXCF6R33EU53MMVM", + "high_descs": [ + "Turn around to walk to the counter by the toaster.", + "Pick up the knife.", + "Turn left to walk back to the counter to the left of the sink.", + "Slice the potato on the counter with the knife.", + "Turn right to walk to the fridge.", + "Place the knife in the fridge.", + "Turn left to walk to the counter above the dishwasher.", + "Pick up a slice of potato from the counter.", + "Make a right and walk to the fridge.", + "Chill the potato slice in the fridge, removing it afterwards.", + "Make a right to reach the trash can next to the fridge.", + "Put the potato slice in the trash can." + ], + "task_desc": "Chill a potato slice in the fridge to throw away 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-AppleSliced-None-DiningTable-18/trial_T20190908_203745_938189/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-AppleSliced-None-DiningTable-18/trial_T20190908_203745_938189/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..4262e3c852726fb0fbb413aee9dc7fc74779cb05 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-AppleSliced-None-DiningTable-18/trial_T20190908_203745_938189/initial_state.pddl @@ -0,0 +1,1127 @@ + +(define (problem plan_trial_T20190908_203745_938189) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_91_bar__plus_00_dot_16_bar__plus_06_dot_41 - object + Apple_bar__minus_00_dot_10_bar__plus_00_dot_83_bar__plus_06_dot_63 - object + Blinds_bar__plus_01_dot_74_bar__plus_02_dot_56_bar__plus_02_dot_31 - object + Bowl_bar__plus_00_dot_70_bar__plus_00_dot_99_bar__plus_00_dot_49 - object + Bread_bar__plus_00_dot_10_bar__plus_00_dot_83_bar__plus_06_dot_31 - object + Bread_bar__minus_00_dot_38_bar__plus_00_dot_83_bar__plus_06_dot_70 - object + Bread_bar__minus_00_dot_46_bar__plus_01_dot_06_bar__plus_00_dot_49 - object + ButterKnife_bar__plus_00_dot_15_bar__plus_00_dot_76_bar__plus_06_dot_54 - object + ButterKnife_bar__plus_00_dot_70_bar__plus_00_dot_99_bar__plus_00_dot_67 - object + ButterKnife_bar__minus_00_dot_69_bar__plus_00_dot_99_bar__plus_00_dot_21 - object + Chair_bar__plus_00_dot_29_bar__plus_00_dot_02_bar__plus_06_dot_14 - object + Cup_bar__plus_01_dot_14_bar__plus_01_dot_58_bar__plus_00_dot_30 - object + Cup_bar__plus_01_dot_23_bar__plus_00_dot_99_bar__plus_03_dot_23 - object + Cup_bar__plus_01_dot_31_bar__plus_00_dot_99_bar__plus_03_dot_51 - object + DishSponge_bar__plus_01_dot_58_bar__plus_00_dot_99_bar__plus_02_dot_95 - object + Egg_bar__plus_00_dot_06_bar__plus_01_dot_15_bar__plus_00_dot_25 - object + Egg_bar__plus_01_dot_00_bar__plus_01_dot_04_bar__plus_00_dot_30 - object + Faucet_bar__plus_01_dot_54_bar__plus_01_dot_03_bar__plus_02_dot_37 - object + Fork_bar__plus_00_dot_06_bar__plus_00_dot_77_bar__plus_00_dot_56 - object + HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_75_bar__plus_06_dot_44 - object + Kettle_bar__plus_01_dot_31_bar__plus_00_dot_99_bar__plus_01_dot_58 - object + Kettle_bar__minus_00_dot_62_bar__plus_00_dot_76_bar__plus_06_dot_54 - object + Knife_bar__plus_00_dot_12_bar__plus_00_dot_79_bar__plus_06_dot_11 - object + Knife_bar__plus_00_dot_19_bar__plus_00_dot_80_bar__plus_00_dot_45 - object + Knife_bar__plus_00_dot_31_bar__plus_00_dot_79_bar__plus_06_dot_54 - object + Lettuce_bar__plus_00_dot_06_bar__plus_00_dot_85_bar__plus_06_dot_70 - object + Lettuce_bar__minus_00_dot_38_bar__plus_01_dot_08_bar__plus_00_dot_30 - 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_02_dot_09_bar__plus_01_dot_51_bar__plus_05_dot_50 - object + Pan_bar__plus_01_dot_31_bar__plus_00_dot_99_bar__plus_04_dot_28 - object + PaperTowelRoll_bar__plus_00_dot_77_bar__plus_01_dot_10_bar__plus_00_dot_12 - object + PepperShaker_bar__plus_00_dot_31_bar__plus_00_dot_76_bar__plus_06_dot_29 - object + Plate_bar__plus_00_dot_05_bar__plus_01_dot_58_bar__plus_00_dot_25 - object + Plate_bar__plus_00_dot_19_bar__plus_00_dot_14_bar__plus_00_dot_51 - object + Plate_bar__plus_01_dot_50_bar__plus_01_dot_58_bar__plus_01_dot_29 - object + Potato_bar__plus_02_dot_01_bar__plus_01_dot_55_bar__plus_06_dot_00 - object + Potato_bar__minus_00_dot_07_bar__plus_00_dot_79_bar__plus_06_dot_13 - object + Pot_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_03_dot_85 - object + Pot_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_04_dot_29 - object + SaltShaker_bar__plus_00_dot_90_bar__plus_01_dot_57_bar__plus_00_dot_25 - object + SaltShaker_bar__minus_00_dot_69_bar__plus_00_dot_14_bar__plus_00_dot_28 - object + Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33 - object + SoapBottle_bar__plus_01_dot_14_bar__plus_01_dot_58_bar__plus_00_dot_16 - object + SoapBottle_bar__plus_01_dot_45_bar__plus_02_dot_21_bar__plus_04_dot_26 - object + SoapBottle_bar__minus_00_dot_16_bar__plus_00_dot_76_bar__plus_06_dot_79 - object + Spatula_bar__plus_00_dot_92_bar__plus_01_dot_01_bar__plus_00_dot_67 - object + Spatula_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_00_dot_56 - object + Spoon_bar__plus_00_dot_26_bar__plus_00_dot_77_bar__plus_00_dot_56 - object + Spoon_bar__minus_00_dot_16_bar__plus_00_dot_76_bar__plus_06_dot_94 - object + StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_03_dot_82 - object + 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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_1_bar_7_bar_0_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 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Mug_bar__plus_01_dot_38_bar__plus_01_dot_04_bar__plus_00_dot_85) + (cleanable Apple_bar__minus_00_dot_10_bar__plus_00_dot_83_bar__plus_06_dot_63) + (cleanable Spoon_bar__minus_00_dot_16_bar__plus_00_dot_76_bar__plus_06_dot_94) + + (heatable Tomato_bar__minus_00_dot_18_bar__plus_00_dot_81_bar__plus_06_dot_28) + (heatable Potato_bar__plus_02_dot_01_bar__plus_01_dot_55_bar__plus_06_dot_00) + (heatable Cup_bar__plus_01_dot_14_bar__plus_01_dot_58_bar__plus_00_dot_30) + (heatable Cup_bar__plus_01_dot_31_bar__plus_00_dot_99_bar__plus_03_dot_51) + (heatable Egg_bar__plus_01_dot_00_bar__plus_01_dot_04_bar__plus_00_dot_30) + (heatable Egg_bar__plus_00_dot_06_bar__plus_01_dot_15_bar__plus_00_dot_25) + (heatable Plate_bar__plus_01_dot_50_bar__plus_01_dot_58_bar__plus_01_dot_29) + (heatable Cup_bar__plus_01_dot_23_bar__plus_00_dot_99_bar__plus_03_dot_23) + (heatable Bread_bar__plus_00_dot_10_bar__plus_00_dot_83_bar__plus_06_dot_31) + (heatable Potato_bar__minus_00_dot_07_bar__plus_00_dot_79_bar__plus_06_dot_13) + (heatable Bread_bar__minus_00_dot_38_bar__plus_00_dot_83_bar__plus_06_dot_70) + (heatable Plate_bar__plus_00_dot_05_bar__plus_01_dot_58_bar__plus_00_dot_25) + (heatable Plate_bar__plus_00_dot_19_bar__plus_00_dot_14_bar__plus_00_dot_51) + (heatable Mug_bar__plus_02_dot_09_bar__plus_01_dot_51_bar__plus_05_dot_50) + (heatable Tomato_bar__plus_02_dot_01_bar__plus_01_dot_57_bar__plus_05_dot_25) + (heatable Tomato_bar__plus_01_dot_00_bar__plus_01_dot_04_bar__plus_00_dot_12) + (heatable Bread_bar__minus_00_dot_46_bar__plus_01_dot_06_bar__plus_00_dot_49) + (heatable Apple_bar__plus_01_dot_91_bar__plus_00_dot_16_bar__plus_06_dot_41) + (heatable Mug_bar__plus_01_dot_38_bar__plus_01_dot_04_bar__plus_00_dot_85) + (heatable Apple_bar__minus_00_dot_10_bar__plus_00_dot_83_bar__plus_06_dot_63) + (coolable Bowl_bar__plus_00_dot_70_bar__plus_00_dot_99_bar__plus_00_dot_49) + (coolable Tomato_bar__minus_00_dot_18_bar__plus_00_dot_81_bar__plus_06_dot_28) + (coolable Pan_bar__plus_01_dot_31_bar__plus_00_dot_99_bar__plus_04_dot_28) + (coolable Potato_bar__plus_02_dot_01_bar__plus_01_dot_55_bar__plus_06_dot_00) + (coolable Lettuce_bar__plus_00_dot_06_bar__plus_00_dot_85_bar__plus_06_dot_70) + (coolable Lettuce_bar__minus_00_dot_38_bar__plus_01_dot_08_bar__plus_00_dot_30) + (coolable Cup_bar__plus_01_dot_14_bar__plus_01_dot_58_bar__plus_00_dot_30) + (coolable Cup_bar__plus_01_dot_31_bar__plus_00_dot_99_bar__plus_03_dot_51) + (coolable Pot_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_03_dot_85) + (coolable Egg_bar__plus_01_dot_00_bar__plus_01_dot_04_bar__plus_00_dot_30) + (coolable Egg_bar__plus_00_dot_06_bar__plus_01_dot_15_bar__plus_00_dot_25) + (coolable Pot_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_04_dot_29) + (coolable Plate_bar__plus_01_dot_50_bar__plus_01_dot_58_bar__plus_01_dot_29) + (coolable Cup_bar__plus_01_dot_23_bar__plus_00_dot_99_bar__plus_03_dot_23) + (coolable Bread_bar__plus_00_dot_10_bar__plus_00_dot_83_bar__plus_06_dot_31) + (coolable Potato_bar__minus_00_dot_07_bar__plus_00_dot_79_bar__plus_06_dot_13) + (coolable Bread_bar__minus_00_dot_38_bar__plus_00_dot_83_bar__plus_06_dot_70) + (coolable Plate_bar__plus_00_dot_05_bar__plus_01_dot_58_bar__plus_00_dot_25) + (coolable Plate_bar__plus_00_dot_19_bar__plus_00_dot_14_bar__plus_00_dot_51) + (coolable Mug_bar__plus_02_dot_09_bar__plus_01_dot_51_bar__plus_05_dot_50) + (coolable Tomato_bar__plus_02_dot_01_bar__plus_01_dot_57_bar__plus_05_dot_25) + (coolable Tomato_bar__plus_01_dot_00_bar__plus_01_dot_04_bar__plus_00_dot_12) + (coolable Bread_bar__minus_00_dot_46_bar__plus_01_dot_06_bar__plus_00_dot_49) + (coolable Apple_bar__plus_01_dot_91_bar__plus_00_dot_16_bar__plus_06_dot_41) + (coolable Mug_bar__plus_01_dot_38_bar__plus_01_dot_04_bar__plus_00_dot_85) + (coolable Apple_bar__minus_00_dot_10_bar__plus_00_dot_83_bar__plus_06_dot_63) + + + + + + (sliceable Tomato_bar__minus_00_dot_18_bar__plus_00_dot_81_bar__plus_06_dot_28) + (sliceable Potato_bar__plus_02_dot_01_bar__plus_01_dot_55_bar__plus_06_dot_00) + (sliceable Lettuce_bar__plus_00_dot_06_bar__plus_00_dot_85_bar__plus_06_dot_70) + (sliceable Lettuce_bar__minus_00_dot_38_bar__plus_01_dot_08_bar__plus_00_dot_30) + (sliceable Egg_bar__plus_01_dot_00_bar__plus_01_dot_04_bar__plus_00_dot_30) + (sliceable Egg_bar__plus_00_dot_06_bar__plus_01_dot_15_bar__plus_00_dot_25) + (sliceable Bread_bar__plus_00_dot_10_bar__plus_00_dot_83_bar__plus_06_dot_31) + (sliceable Potato_bar__minus_00_dot_07_bar__plus_00_dot_79_bar__plus_06_dot_13) + (sliceable Bread_bar__minus_00_dot_38_bar__plus_00_dot_83_bar__plus_06_dot_70) + (sliceable Tomato_bar__plus_02_dot_01_bar__plus_01_dot_57_bar__plus_05_dot_25) + (sliceable Tomato_bar__plus_01_dot_00_bar__plus_01_dot_04_bar__plus_00_dot_12) + (sliceable Bread_bar__minus_00_dot_46_bar__plus_01_dot_06_bar__plus_00_dot_49) + (sliceable Apple_bar__plus_01_dot_91_bar__plus_00_dot_16_bar__plus_06_dot_41) + (sliceable Apple_bar__minus_00_dot_10_bar__plus_00_dot_83_bar__plus_06_dot_63) + + (inReceptacle SoapBottle_bar__plus_01_dot_45_bar__plus_02_dot_21_bar__plus_04_dot_26 Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_04_dot_36) + (inReceptacle Pot_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_03_dot_85 StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_03_dot_85) + (inReceptacle ButterKnife_bar__plus_00_dot_15_bar__plus_00_dot_76_bar__plus_06_dot_54 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47) + (inReceptacle Tomato_bar__minus_00_dot_18_bar__plus_00_dot_81_bar__plus_06_dot_28 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47) + (inReceptacle Bread_bar__plus_00_dot_10_bar__plus_00_dot_83_bar__plus_06_dot_31 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47) + (inReceptacle SoapBottle_bar__minus_00_dot_16_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) + (inReceptacle Kettle_bar__minus_00_dot_62_bar__plus_00_dot_76_bar__plus_06_dot_54 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47) + (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) + (inReceptacle Lettuce_bar__plus_00_dot_06_bar__plus_00_dot_85_bar__plus_06_dot_70 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47) + (inReceptacle Apple_bar__minus_00_dot_10_bar__plus_00_dot_83_bar__plus_06_dot_63 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47) + (inReceptacle Knife_bar__plus_00_dot_12_bar__plus_00_dot_79_bar__plus_06_dot_11 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47) + (inReceptacle Potato_bar__minus_00_dot_07_bar__plus_00_dot_79_bar__plus_06_dot_13 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47) + (inReceptacle Bread_bar__minus_00_dot_38_bar__plus_00_dot_83_bar__plus_06_dot_70 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47) + (inReceptacle PepperShaker_bar__plus_00_dot_31_bar__plus_00_dot_76_bar__plus_06_dot_29 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47) + (inReceptacle Knife_bar__plus_00_dot_31_bar__plus_00_dot_79_bar__plus_06_dot_54 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47) + (inReceptacle Spoon_bar__minus_00_dot_16_bar__plus_00_dot_76_bar__plus_06_dot_94 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47) + (inReceptacle Pan_bar__plus_01_dot_31_bar__plus_00_dot_99_bar__plus_04_dot_28 StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_04_dot_29) + (inReceptacle Spatula_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_00_dot_56 Drawer_bar__minus_00_dot_48_bar__plus_00_dot_80_bar__plus_00_dot_52) + (inReceptacle Fork_bar__plus_00_dot_06_bar__plus_00_dot_77_bar__plus_00_dot_56 Drawer_bar__plus_00_dot_12_bar__plus_00_dot_80_bar__plus_00_dot_52) + (inReceptacle Spoon_bar__plus_00_dot_26_bar__plus_00_dot_77_bar__plus_00_dot_56 Drawer_bar__plus_00_dot_12_bar__plus_00_dot_80_bar__plus_00_dot_52) + (inReceptacle Knife_bar__plus_00_dot_19_bar__plus_00_dot_80_bar__plus_00_dot_45 Drawer_bar__plus_00_dot_12_bar__plus_00_dot_80_bar__plus_00_dot_52) + (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) + (inReceptacle Cup_bar__plus_01_dot_23_bar__plus_00_dot_99_bar__plus_03_dot_23 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle Egg_bar__plus_01_dot_00_bar__plus_01_dot_04_bar__plus_00_dot_30 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle Bowl_bar__plus_00_dot_70_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) + (inReceptacle DishSponge_bar__plus_01_dot_58_bar__plus_00_dot_99_bar__plus_02_dot_95 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle Tomato_bar__plus_01_dot_00_bar__plus_01_dot_04_bar__plus_00_dot_12 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle Bread_bar__minus_00_dot_46_bar__plus_01_dot_06_bar__plus_00_dot_49 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle ButterKnife_bar__plus_00_dot_70_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) + (inReceptacle PaperTowelRoll_bar__plus_00_dot_77_bar__plus_01_dot_10_bar__plus_00_dot_12 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle Kettle_bar__plus_01_dot_31_bar__plus_00_dot_99_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 Spatula_bar__plus_00_dot_92_bar__plus_01_dot_01_bar__plus_00_dot_67 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle Lettuce_bar__minus_00_dot_38_bar__plus_01_dot_08_bar__plus_00_dot_30 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle ButterKnife_bar__minus_00_dot_69_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 Cup_bar__plus_01_dot_31_bar__plus_00_dot_99_bar__plus_03_dot_51 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle Cup_bar__plus_01_dot_14_bar__plus_01_dot_58_bar__plus_00_dot_30 Cabinet_bar__plus_01_dot_27_bar__plus_02_dot_13_bar__plus_00_dot_43) + (inReceptacle SaltShaker_bar__plus_00_dot_90_bar__plus_01_dot_57_bar__plus_00_dot_25 Cabinet_bar__plus_01_dot_27_bar__plus_02_dot_13_bar__plus_00_dot_43) + (inReceptacle SoapBottle_bar__plus_01_dot_14_bar__plus_01_dot_58_bar__plus_00_dot_16 Cabinet_bar__plus_01_dot_27_bar__plus_02_dot_13_bar__plus_00_dot_43) + (inReceptacle SaltShaker_bar__minus_00_dot_69_bar__plus_00_dot_14_bar__plus_00_dot_28 Cabinet_bar__minus_00_dot_78_bar__plus_00_dot_42_bar__plus_00_dot_74) + (inReceptacle Plate_bar__plus_00_dot_19_bar__plus_00_dot_14_bar__plus_00_dot_51 Cabinet_bar__minus_00_dot_17_bar__plus_00_dot_42_bar__plus_00_dot_74) + (inReceptacle Plate_bar__plus_01_dot_50_bar__plus_01_dot_58_bar__plus_01_dot_29 Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_01_dot_53) + (inReceptacle Plate_bar__plus_00_dot_05_bar__plus_01_dot_58_bar__plus_00_dot_25 Cabinet_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_00_dot_43) + (inReceptacle Egg_bar__plus_00_dot_06_bar__plus_01_dot_15_bar__plus_00_dot_25 Microwave_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_26) + (inReceptacle Mug_bar__plus_01_dot_38_bar__plus_01_dot_04_bar__plus_00_dot_85 CoffeeMachine_bar__plus_01_dot_55_bar__plus_00_dot_98_bar__plus_00_dot_95) + (inReceptacle Mug_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) + (inReceptacle Potato_bar__plus_02_dot_01_bar__plus_01_dot_55_bar__plus_06_dot_00 Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63) + (inReceptacle Tomato_bar__plus_02_dot_01_bar__plus_01_dot_57_bar__plus_05_dot_25 Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63) + (inReceptacle Apple_bar__plus_01_dot_91_bar__plus_00_dot_16_bar__plus_06_dot_41 GarbageCan_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_06_dot_50) + + + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (objectAtLocation Mug_bar__plus_01_dot_38_bar__plus_01_dot_04_bar__plus_00_dot_85 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation Spoon_bar__plus_00_dot_26_bar__plus_00_dot_77_bar__plus_00_dot_56 loc_bar__minus_3_bar_5_bar_1_bar_45) + (objectAtLocation Cup_bar__plus_01_dot_23_bar__plus_00_dot_99_bar__plus_03_dot_23 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation Tomato_bar__minus_00_dot_18_bar__plus_00_dot_81_bar__plus_06_dot_28 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation ButterKnife_bar__plus_00_dot_70_bar__plus_00_dot_99_bar__plus_00_dot_67 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation Potato_bar__minus_00_dot_07_bar__plus_00_dot_79_bar__plus_06_dot_13 loc_bar_3_bar_26_bar_3_bar_45) + (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) + (objectAtLocation Spatula_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_00_dot_56 loc_bar__minus_5_bar_5_bar_1_bar_45) + (objectAtLocation SoapBottle_bar__plus_01_dot_45_bar__plus_02_dot_21_bar__plus_04_dot_26 loc_bar_3_bar_17_bar_1_bar__minus_30) + (objectAtLocation Lettuce_bar__minus_00_dot_38_bar__plus_01_dot_08_bar__plus_00_dot_30 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation SaltShaker_bar__minus_00_dot_69_bar__plus_00_dot_14_bar__plus_00_dot_28 loc_bar_0_bar_7_bar_2_bar_45) + (objectAtLocation Plate_bar__plus_00_dot_19_bar__plus_00_dot_14_bar__plus_00_dot_51 loc_bar__minus_1_bar_7_bar_2_bar_45) + (objectAtLocation Kettle_bar__minus_00_dot_62_bar__plus_00_dot_76_bar__plus_06_dot_54 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Apple_bar__plus_01_dot_91_bar__plus_00_dot_16_bar__plus_06_dot_41 loc_bar_4_bar_24_bar_1_bar_60) + (objectAtLocation Knife_bar__plus_00_dot_19_bar__plus_00_dot_80_bar__plus_00_dot_45 loc_bar__minus_3_bar_5_bar_1_bar_45) + (objectAtLocation Egg_bar__plus_01_dot_00_bar__plus_01_dot_04_bar__plus_00_dot_30 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation Bread_bar__plus_00_dot_10_bar__plus_00_dot_83_bar__plus_06_dot_31 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Bread_bar__minus_00_dot_38_bar__plus_00_dot_83_bar__plus_06_dot_70 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation SoapBottle_bar__minus_00_dot_16_bar__plus_00_dot_76_bar__plus_06_dot_79 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation 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Lettuce_bar__plus_00_dot_06_bar__plus_00_dot_85_bar__plus_06_dot_70 loc_bar_3_bar_26_bar_3_bar_45) + (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) + (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) + (objectAtLocation SoapBottle_bar__plus_01_dot_14_bar__plus_01_dot_58_bar__plus_00_dot_16 loc_bar_3_bar_4_bar_2_bar__minus_30) + (objectAtLocation Spatula_bar__plus_00_dot_92_bar__plus_01_dot_01_bar__plus_00_dot_67 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation PaperTowelRoll_bar__plus_00_dot_77_bar__plus_01_dot_10_bar__plus_00_dot_12 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation Pot_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_03_dot_85 loc_bar_3_bar_15_bar_1_bar_45) + (objectAtLocation Potato_bar__plus_02_dot_01_bar__plus_01_dot_55_bar__plus_06_dot_00 loc_bar_4_bar_22_bar_1_bar_60) + (objectAtLocation ButterKnife_bar__plus_00_dot_15_bar__plus_00_dot_76_bar__plus_06_dot_54 loc_bar_3_bar_26_bar_3_bar_45) + (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) + (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) + (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) + (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) + (objectAtLocation PepperShaker_bar__plus_00_dot_31_bar__plus_00_dot_76_bar__plus_06_dot_29 loc_bar_3_bar_26_bar_3_bar_45) + (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) + (objectAtLocation Tomato_bar__plus_01_dot_00_bar__plus_01_dot_04_bar__plus_00_dot_12 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation 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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-AppleSliced-None-DiningTable-18/trial_T20190908_203745_938189/traj_data.json b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-AppleSliced-None-DiningTable-18/trial_T20190908_203745_938189/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..883c023862295f0614404ab588e6cb8a7ed85523 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-AppleSliced-None-DiningTable-18/trial_T20190908_203745_938189/traj_data.json @@ -0,0 +1,15268 @@ +{ + "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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"high_descs": [ + "Walk across the room to face the right side of the kitchen table.", + "Pick up the knife on the kitchen table.", + "Step to the right to face the apple on the kitchen table.", + "Cut the apple on the kitchen table into three pieces.", + "Look down to face the close edge of the kitchen table.", + "Place the knife on the edge of the kitchen table.", + "Look up to face the piece of apple on the kitchen table.", + "Pick up the piece of apple on the kitchen table.", + "Turn left and walk across the room to face the microwave.", + "Heat the piece of apple in the microwave and remove it.", + "Turn around and Walk across the room to face the right side of the kitchen table.", + "Place the piece of apple on the kitchen table." + ], + "task_desc": "To heat a piece of apple as well as place it on the kitchen table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A36A780ODXBDEH_3IXQG4FA2WPGK95XIPBMX5E324PB9G", + "high_descs": [ + "Head across the room and walk around to the right side of the round black table.", + "Pick up the butterknife on the table.", + "Turn right to move over a few feet to face the table again.", + "Slice the yellow fruit on the table with the butterknife.", + "Turn left to move over a few feet to face the table once more.", + "Put the butterknife down on the round table.", + "Turn right to move over a few feet to face the table yet again.", + "Pick up a slice of the yellow fruit on the table.", + "Turn around and walk around the table to the opposite side of the room to the microwave.", + "Open the microwave to heat the fruit slice for a moment, then take the fruit slice back out and close the microwave.", + "Turn around and go back to the round black table where the butterknife is.", + "Set the fruit slice down on the table to the right of the butterknife." + ], + "task_desc": "Microwave a slice of yellow fruit and bring it back to the round black table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A12HZGOZQD5YK7_3YMU66OBIQZ5QWVRWNRSBX3O1VKHGQ", + "high_descs": [ + "Go across the room, turn right, go the fridge, turn left and then turn around to the table.", + "Pick up the knife in the middle of the table.", + "Turn to the right and then turn back to the left.", + "Cut the apple on the table behind the lettuce.", + "Turn to the left and then turn back to the right toward the table.", + "Put the knife on top of the knife on the table.", + "Turn right and turn back left to the table.", + "Pick up a slice of apple on the table.", + "Turn left and go across the room to the microwave.", + "Put the apple in the microwave, cook it and pick it back up.", + "Turn around, head back to the table, turn right to the fridge, turn left and then turn right to the table.", + "Put the slice of apple on the table in front of the lettuce." + ], + "task_desc": "Put a cooked slice of apple on the table.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-AppleSliced-None-DiningTable-18/trial_T20190908_204024_506453/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-AppleSliced-None-DiningTable-18/trial_T20190908_204024_506453/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..e5e16d10af28b1308c07639ee6b35a41c7eded75 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-AppleSliced-None-DiningTable-18/trial_T20190908_204024_506453/initial_state.pddl @@ -0,0 +1,1095 @@ + +(define (problem plan_trial_T20190908_204024_506453) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__plus_00_dot_06_bar__plus_00_dot_83_bar__plus_06_dot_70 - object + Apple_bar__plus_01_dot_96_bar__plus_00_dot_16_bar__plus_06_dot_50 - 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__minus_00_dot_38_bar__plus_00_dot_99_bar__plus_00_dot_40 - object + Bread_bar__plus_01_dot_10_bar__plus_01_dot_05_bar__plus_00_dot_43 - object + ButterKnife_bar__plus_00_dot_17_bar__plus_00_dot_76_bar__plus_06_dot_15 - object + ButterKnife_bar__minus_00_dot_55_bar__plus_00_dot_77_bar__plus_00_dot_56 - object + Chair_bar__plus_00_dot_29_bar__plus_00_dot_02_bar__plus_06_dot_14 - object + Cup_bar__plus_01_dot_32_bar__plus_00_dot_14_bar__plus_03_dot_37 - object + Cup_bar__plus_02_dot_05_bar__plus_01_dot_51_bar__plus_05_dot_63 - object + DishSponge_bar__plus_01_dot_18_bar__plus_00_dot_77_bar__plus_04_dot_79 - object + DishSponge_bar__minus_00_dot_22_bar__plus_00_dot_76_bar__plus_06_dot_94 - object + Egg_bar__plus_01_dot_50_bar__plus_00_dot_94_bar__plus_01_dot_98 - object + Egg_bar__plus_02_dot_09_bar__plus_01_dot_57_bar__plus_06_dot_00 - object + Faucet_bar__plus_01_dot_54_bar__plus_01_dot_03_bar__plus_02_dot_37 - object + Fork_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_00_dot_44 - object + HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_75_bar__plus_06_dot_44 - object + Kettle_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_03_dot_85 - object + Kettle_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_04_dot_29 - object + Knife_bar__minus_00_dot_61_bar__plus_01_dot_02_bar__plus_00_dot_21 - object + Lettuce_bar__plus_00_dot_26_bar__plus_00_dot_85_bar__plus_06_dot_72 - object + Lettuce_bar__plus_01_dot_40_bar__plus_01_dot_08_bar__plus_00_dot_44 - object + Lettuce_bar__minus_00_dot_44_bar__plus_00_dot_85_bar__plus_06_dot_85 - 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__minus_00_dot_05_bar__plus_00_dot_76_bar__plus_06_dot_59 - object + Pan_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_04_dot_29 - object + PaperTowelRoll_bar__minus_00_dot_40_bar__plus_00_dot_86_bar__plus_06_dot_50 - object + PepperShaker_bar__minus_00_dot_16_bar__plus_00_dot_76_bar__plus_06_dot_79 - object + Plate_bar__plus_00_dot_67_bar__plus_00_dot_14_bar__plus_00_dot_42 - object + Plate_bar__plus_01_dot_08_bar__plus_01_dot_58_bar__plus_00_dot_25 - object + Plate_bar__plus_01_dot_57_bar__plus_00_dot_14_bar__plus_02_dot_50 - object + Potato_bar__plus_01_dot_14_bar__plus_01_dot_03_bar__plus_04_dot_62 - object + Potato_bar__plus_01_dot_97_bar__plus_01_dot_55_bar__plus_05_dot_25 - object + Potato_bar__plus_02_dot_09_bar__plus_01_dot_55_bar__plus_05_dot_88 - object + Pot_bar__plus_00_dot_73_bar__plus_00_dot_98_bar__plus_00_dot_38 - object + SaltShaker_bar__plus_00_dot_62_bar__plus_01_dot_57_bar__plus_00_dot_34 - object + SaltShaker_bar__plus_01_dot_50_bar__plus_01_dot_57_bar__plus_01_dot_29 - object + SaltShaker_bar__minus_00_dot_28_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_01_dot_14_bar__plus_00_dot_99_bar__plus_03_dot_32 - object + Spatula_bar__plus_00_dot_10_bar__plus_00_dot_78_bar__plus_06_dot_31 - object + Spatula_bar__plus_01_dot_50_bar__plus_00_dot_91_bar__plus_02_dot_53 - object + Spatula_bar__minus_00_dot_47_bar__plus_00_dot_78_bar__plus_06_dot_67 - object + Spoon_bar__minus_00_dot_29_bar__plus_00_dot_76_bar__plus_06_dot_17 - 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__minus_00_dot_16_bar__plus_00_dot_81_bar__plus_06_dot_29 - object + Tomato_bar__minus_00_dot_51_bar__plus_00_dot_81_bar__plus_06_dot_57 - 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_3_bar_26_bar_3_bar_60 - 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_6_bar_8_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 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 StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_03_dot_85 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_03_dot_61 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_04_dot_36 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_00_dot_43 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_00_dot_52 CabinetType) + (receptacleType Cabinet_bar__plus_00_dot_25_bar__plus_02_dot_13_bar__plus_00_dot_43 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_03_dot_10 CabinetType) + (receptacleType Toaster_bar__plus_01_dot_47_bar__plus_00_dot_98_bar__plus_04_dot_72 ToasterType) + (receptacleType Drawer_bar__plus_01_dot_28_bar__plus_00_dot_81_bar__plus_04_dot_72 DrawerType) + (receptacleType CoffeeMachine_bar__plus_01_dot_55_bar__plus_00_dot_98_bar__plus_00_dot_95 CoffeeMachineType) + (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 Apple_bar__plus_00_dot_06_bar__plus_00_dot_83_bar__plus_06_dot_70 AppleType) + (objectType Potato_bar__plus_01_dot_97_bar__plus_01_dot_55_bar__plus_05_dot_25 PotatoType) + (objectType Pot_bar__plus_00_dot_73_bar__plus_00_dot_98_bar__plus_00_dot_38 PotType) + (objectType 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Pot_bar__plus_00_dot_73_bar__plus_00_dot_98_bar__plus_00_dot_38) + (cleanable Apple_bar__plus_01_dot_96_bar__plus_00_dot_16_bar__plus_06_dot_50) + (cleanable Mug_bar__minus_00_dot_05_bar__plus_00_dot_76_bar__plus_06_dot_59) + (cleanable Kettle_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_03_dot_85) + (cleanable Plate_bar__plus_01_dot_08_bar__plus_01_dot_58_bar__plus_00_dot_25) + (cleanable DishSponge_bar__minus_00_dot_22_bar__plus_00_dot_76_bar__plus_06_dot_94) + (cleanable Kettle_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_04_dot_29) + (cleanable Fork_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_00_dot_44) + (cleanable Spoon_bar__minus_00_dot_29_bar__plus_00_dot_76_bar__plus_06_dot_17) + (cleanable Tomato_bar__minus_00_dot_51_bar__plus_00_dot_81_bar__plus_06_dot_57) + (cleanable DishSponge_bar__plus_01_dot_18_bar__plus_00_dot_77_bar__plus_04_dot_79) + (cleanable Lettuce_bar__minus_00_dot_44_bar__plus_00_dot_85_bar__plus_06_dot_85) + (cleanable Potato_bar__plus_01_dot_14_bar__plus_01_dot_03_bar__plus_04_dot_62) + (cleanable Spatula_bar__minus_00_dot_47_bar__plus_00_dot_78_bar__plus_06_dot_67) + (cleanable ButterKnife_bar__plus_00_dot_17_bar__plus_00_dot_76_bar__plus_06_dot_15) + (cleanable Lettuce_bar__plus_00_dot_26_bar__plus_00_dot_85_bar__plus_06_dot_72) + (cleanable Potato_bar__plus_02_dot_09_bar__plus_01_dot_55_bar__plus_05_dot_88) + (cleanable Spatula_bar__plus_00_dot_10_bar__plus_00_dot_78_bar__plus_06_dot_31) + (cleanable Bowl_bar__plus_00_dot_15_bar__plus_00_dot_76_bar__plus_06_dot_35) + (cleanable Cup_bar__plus_01_dot_32_bar__plus_00_dot_14_bar__plus_03_dot_37) + (cleanable Pan_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_04_dot_29) + (cleanable Cup_bar__plus_02_dot_05_bar__plus_01_dot_51_bar__plus_05_dot_63) + (cleanable ButterKnife_bar__minus_00_dot_55_bar__plus_00_dot_77_bar__plus_00_dot_56) + (cleanable Lettuce_bar__plus_01_dot_40_bar__plus_01_dot_08_bar__plus_00_dot_44) + (cleanable Bowl_bar__minus_00_dot_38_bar__plus_00_dot_99_bar__plus_00_dot_40) + (cleanable Plate_bar__plus_01_dot_57_bar__plus_00_dot_14_bar__plus_02_dot_50) + (cleanable Plate_bar__plus_00_dot_67_bar__plus_00_dot_14_bar__plus_00_dot_42) + (cleanable Egg_bar__plus_01_dot_50_bar__plus_00_dot_94_bar__plus_01_dot_98) + (cleanable Tomato_bar__minus_00_dot_16_bar__plus_00_dot_81_bar__plus_06_dot_29) + (cleanable Knife_bar__minus_00_dot_61_bar__plus_01_dot_02_bar__plus_00_dot_21) + (cleanable Spatula_bar__plus_01_dot_50_bar__plus_00_dot_91_bar__plus_02_dot_53) + (cleanable Egg_bar__plus_02_dot_09_bar__plus_01_dot_57_bar__plus_06_dot_00) + (cleanable Mug_bar__plus_01_dot_38_bar__plus_01_dot_04_bar__plus_00_dot_85) + + (heatable Apple_bar__plus_00_dot_06_bar__plus_00_dot_83_bar__plus_06_dot_70) + (heatable Potato_bar__plus_01_dot_97_bar__plus_01_dot_55_bar__plus_05_dot_25) + (heatable Apple_bar__plus_01_dot_96_bar__plus_00_dot_16_bar__plus_06_dot_50) + (heatable Mug_bar__minus_00_dot_05_bar__plus_00_dot_76_bar__plus_06_dot_59) + (heatable Bread_bar__plus_01_dot_10_bar__plus_01_dot_05_bar__plus_00_dot_43) + (heatable Plate_bar__plus_01_dot_08_bar__plus_01_dot_58_bar__plus_00_dot_25) + (heatable Tomato_bar__minus_00_dot_51_bar__plus_00_dot_81_bar__plus_06_dot_57) + (heatable Potato_bar__plus_01_dot_14_bar__plus_01_dot_03_bar__plus_04_dot_62) + (heatable Potato_bar__plus_02_dot_09_bar__plus_01_dot_55_bar__plus_05_dot_88) + (heatable Cup_bar__plus_01_dot_32_bar__plus_00_dot_14_bar__plus_03_dot_37) + (heatable Cup_bar__plus_02_dot_05_bar__plus_01_dot_51_bar__plus_05_dot_63) + (heatable Plate_bar__plus_01_dot_57_bar__plus_00_dot_14_bar__plus_02_dot_50) + (heatable Plate_bar__plus_00_dot_67_bar__plus_00_dot_14_bar__plus_00_dot_42) + (heatable Egg_bar__plus_01_dot_50_bar__plus_00_dot_94_bar__plus_01_dot_98) + (heatable Tomato_bar__minus_00_dot_16_bar__plus_00_dot_81_bar__plus_06_dot_29) + (heatable Egg_bar__plus_02_dot_09_bar__plus_01_dot_57_bar__plus_06_dot_00) + (heatable Mug_bar__plus_01_dot_38_bar__plus_01_dot_04_bar__plus_00_dot_85) + (coolable Apple_bar__plus_00_dot_06_bar__plus_00_dot_83_bar__plus_06_dot_70) + (coolable Potato_bar__plus_01_dot_97_bar__plus_01_dot_55_bar__plus_05_dot_25) + (coolable Pot_bar__plus_00_dot_73_bar__plus_00_dot_98_bar__plus_00_dot_38) + (coolable Apple_bar__plus_01_dot_96_bar__plus_00_dot_16_bar__plus_06_dot_50) + (coolable Mug_bar__minus_00_dot_05_bar__plus_00_dot_76_bar__plus_06_dot_59) + (coolable Bread_bar__plus_01_dot_10_bar__plus_01_dot_05_bar__plus_00_dot_43) + (coolable Plate_bar__plus_01_dot_08_bar__plus_01_dot_58_bar__plus_00_dot_25) + (coolable Tomato_bar__minus_00_dot_51_bar__plus_00_dot_81_bar__plus_06_dot_57) + (coolable Lettuce_bar__minus_00_dot_44_bar__plus_00_dot_85_bar__plus_06_dot_85) + (coolable Potato_bar__plus_01_dot_14_bar__plus_01_dot_03_bar__plus_04_dot_62) + (coolable 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DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47) + (inReceptacle PaperTowelRoll_bar__minus_00_dot_40_bar__plus_00_dot_86_bar__plus_06_dot_50 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47) + (inReceptacle Spatula_bar__plus_00_dot_10_bar__plus_00_dot_78_bar__plus_06_dot_31 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47) + (inReceptacle DishSponge_bar__minus_00_dot_22_bar__plus_00_dot_76_bar__plus_06_dot_94 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47) + (inReceptacle Bowl_bar__plus_00_dot_15_bar__plus_00_dot_76_bar__plus_06_dot_35 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47) + (inReceptacle PepperShaker_bar__minus_00_dot_16_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) + (inReceptacle Spoon_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) + (inReceptacle Tomato_bar__minus_00_dot_51_bar__plus_00_dot_81_bar__plus_06_dot_57 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47) + (inReceptacle Spatula_bar__minus_00_dot_47_bar__plus_00_dot_78_bar__plus_06_dot_67 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47) + (inReceptacle Tomato_bar__minus_00_dot_16_bar__plus_00_dot_81_bar__plus_06_dot_29 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47) + (inReceptacle ButterKnife_bar__plus_00_dot_17_bar__plus_00_dot_76_bar__plus_06_dot_15 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47) + (inReceptacle Lettuce_bar__minus_00_dot_44_bar__plus_00_dot_85_bar__plus_06_dot_85 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47) + (inReceptacle Lettuce_bar__plus_00_dot_26_bar__plus_00_dot_85_bar__plus_06_dot_72 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47) + (inReceptacle Kettle_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_04_dot_29 StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_04_dot_29) + (inReceptacle ButterKnife_bar__minus_00_dot_55_bar__plus_00_dot_77_bar__plus_00_dot_56 Drawer_bar__minus_00_dot_48_bar__plus_00_dot_80_bar__plus_00_dot_52) + (inReceptacle Pan_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) + (inReceptacle Kettle_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) + (inReceptacle SoapBottle_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_03_dot_32 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle Pot_bar__plus_00_dot_73_bar__plus_00_dot_98_bar__plus_00_dot_38 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle Bread_bar__plus_01_dot_10_bar__plus_01_dot_05_bar__plus_00_dot_43 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 Fork_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_00_dot_44 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle Lettuce_bar__plus_01_dot_40_bar__plus_01_dot_08_bar__plus_00_dot_44 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle Bowl_bar__minus_00_dot_38_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) + (inReceptacle Knife_bar__minus_00_dot_61_bar__plus_01_dot_02_bar__plus_00_dot_21 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (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) + (inReceptacle Plate_bar__plus_00_dot_67_bar__plus_00_dot_14_bar__plus_00_dot_42 Cabinet_bar__plus_00_dot_44_bar__plus_00_dot_42_bar__plus_00_dot_74) + (inReceptacle Plate_bar__plus_01_dot_08_bar__plus_01_dot_58_bar__plus_00_dot_25 Cabinet_bar__plus_01_dot_27_bar__plus_02_dot_13_bar__plus_00_dot_43) + (inReceptacle SaltShaker_bar__plus_01_dot_50_bar__plus_01_dot_57_bar__plus_01_dot_29 Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_01_dot_53) + (inReceptacle Cup_bar__plus_01_dot_32_bar__plus_00_dot_14_bar__plus_03_dot_37 Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_99) + (inReceptacle Plate_bar__plus_01_dot_57_bar__plus_00_dot_14_bar__plus_02_dot_50 Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_94) + (inReceptacle SaltShaker_bar__plus_00_dot_62_bar__plus_01_dot_57_bar__plus_00_dot_34 Cabinet_bar__plus_00_dot_25_bar__plus_02_dot_13_bar__plus_00_dot_43) + (inReceptacleObject Spatula_bar__plus_00_dot_10_bar__plus_00_dot_78_bar__plus_06_dot_31 Bowl_bar__plus_00_dot_15_bar__plus_00_dot_76_bar__plus_06_dot_35) + (inReceptacle Mug_bar__plus_01_dot_38_bar__plus_01_dot_04_bar__plus_00_dot_85 CoffeeMachine_bar__plus_01_dot_55_bar__plus_00_dot_98_bar__plus_00_dot_95) + (inReceptacle Potato_bar__plus_01_dot_97_bar__plus_01_dot_55_bar__plus_05_dot_25 Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63) + (inReceptacle Egg_bar__plus_02_dot_09_bar__plus_01_dot_57_bar__plus_06_dot_00 Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63) + (inReceptacle Potato_bar__plus_02_dot_09_bar__plus_01_dot_55_bar__plus_05_dot_88 Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63) + (inReceptacle Cup_bar__plus_02_dot_05_bar__plus_01_dot_51_bar__plus_05_dot_63 Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63) + (inReceptacle Egg_bar__plus_01_dot_50_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) + (inReceptacle Spatula_bar__plus_01_dot_50_bar__plus_00_dot_91_bar__plus_02_dot_53 Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin) + (inReceptacle Apple_bar__plus_01_dot_96_bar__plus_00_dot_16_bar__plus_06_dot_50 GarbageCan_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_06_dot_50) + + + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (objectAtLocation Mug_bar__minus_00_dot_05_bar__plus_00_dot_76_bar__plus_06_dot_59 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Cup_bar__plus_01_dot_32_bar__plus_00_dot_14_bar__plus_03_dot_37 loc_bar_1_bar_14_bar_1_bar_60) + (objectAtLocation DishSponge_bar__minus_00_dot_22_bar__plus_00_dot_76_bar__plus_06_dot_94 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Tomato_bar__minus_00_dot_51_bar__plus_00_dot_81_bar__plus_06_dot_57 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation ButterKnife_bar__minus_00_dot_55_bar__plus_00_dot_77_bar__plus_00_dot_56 loc_bar__minus_5_bar_5_bar_1_bar_45) + (objectAtLocation Potato_bar__plus_01_dot_97_bar__plus_01_dot_55_bar__plus_05_dot_25 loc_bar_4_bar_22_bar_1_bar_60) + (objectAtLocation Spatula_bar__minus_00_dot_47_bar__plus_00_dot_78_bar__plus_06_dot_67 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Lettuce_bar__plus_01_dot_40_bar__plus_01_dot_08_bar__plus_00_dot_44 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation SaltShaker_bar__plus_00_dot_62_bar__plus_01_dot_57_bar__plus_00_dot_34 loc_bar_2_bar_4_bar_2_bar__minus_30) + (objectAtLocation Plate_bar__plus_01_dot_08_bar__plus_01_dot_58_bar__plus_00_dot_25 loc_bar_3_bar_4_bar_2_bar__minus_30) + (objectAtLocation Kettle_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_04_dot_29 loc_bar_3_bar_17_bar_1_bar_45) + (objectAtLocation Apple_bar__plus_01_dot_96_bar__plus_00_dot_16_bar__plus_06_dot_50 loc_bar_4_bar_24_bar_1_bar_60) + (objectAtLocation Egg_bar__plus_01_dot_50_bar__plus_00_dot_94_bar__plus_01_dot_98 loc_bar_3_bar_9_bar_1_bar_45) + (objectAtLocation Bowl_bar__minus_00_dot_38_bar__plus_00_dot_99_bar__plus_00_dot_40 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation Lettuce_bar__minus_00_dot_44_bar__plus_00_dot_85_bar__plus_06_dot_85 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation SaltShaker_bar__minus_00_dot_28_bar__plus_00_dot_76_bar__plus_06_dot_79 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Plate_bar__plus_01_dot_57_bar__plus_00_dot_14_bar__plus_02_dot_50 loc_bar_1_bar_10_bar_1_bar_60) + (objectAtLocation Spatula_bar__plus_01_dot_50_bar__plus_00_dot_91_bar__plus_02_dot_53 loc_bar_3_bar_9_bar_1_bar_45) + (objectAtLocation Potato_bar__plus_02_dot_09_bar__plus_01_dot_55_bar__plus_05_dot_88 loc_bar_4_bar_22_bar_1_bar_60) + (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) + (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) + (objectAtLocation Bread_bar__plus_01_dot_10_bar__plus_01_dot_05_bar__plus_00_dot_43 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation Egg_bar__plus_02_dot_09_bar__plus_01_dot_57_bar__plus_06_dot_00 loc_bar_4_bar_22_bar_1_bar_60) + (objectAtLocation Knife_bar__minus_00_dot_61_bar__plus_01_dot_02_bar__plus_00_dot_21 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation Fork_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_00_dot_44 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation Apple_bar__plus_00_dot_06_bar__plus_00_dot_83_bar__plus_06_dot_70 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Kettle_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_03_dot_85 loc_bar_3_bar_15_bar_1_bar_45) + (objectAtLocation Plate_bar__plus_00_dot_67_bar__plus_00_dot_14_bar__plus_00_dot_42 loc_bar_1_bar_7_bar_2_bar_45) + (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) + (objectAtLocation SaltShaker_bar__plus_01_dot_50_bar__plus_01_dot_57_bar__plus_01_dot_29 loc_bar_3_bar_5_bar_1_bar__minus_30) + (objectAtLocation Lettuce_bar__plus_00_dot_26_bar__plus_00_dot_85_bar__plus_06_dot_72 loc_bar_3_bar_26_bar_3_bar_45) + (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) + (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) + (objectAtLocation SoapBottle_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_03_dot_32 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation Spatula_bar__plus_00_dot_10_bar__plus_00_dot_78_bar__plus_06_dot_31 loc_bar_3_bar_26_bar_3_bar_60) + (objectAtLocation PaperTowelRoll_bar__minus_00_dot_40_bar__plus_00_dot_86_bar__plus_06_dot_50 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Pot_bar__plus_00_dot_73_bar__plus_00_dot_98_bar__plus_00_dot_38 loc_bar_3_bar_4_bar_1_bar_45) + (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) + (objectAtLocation ButterKnife_bar__plus_00_dot_17_bar__plus_00_dot_76_bar__plus_06_dot_15 loc_bar_3_bar_26_bar_3_bar_45) + (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) + (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) + (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) + (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) + (objectAtLocation PepperShaker_bar__minus_00_dot_16_bar__plus_00_dot_76_bar__plus_06_dot_79 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Pan_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_04_dot_29 loc_bar_3_bar_17_bar_1_bar_45) + (objectAtLocation Tomato_bar__minus_00_dot_16_bar__plus_00_dot_81_bar__plus_06_dot_29 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation DishSponge_bar__plus_01_dot_18_bar__plus_00_dot_77_bar__plus_04_dot_79 loc_bar_1_bar_20_bar_1_bar_45) + (objectAtLocation Cup_bar__plus_02_dot_05_bar__plus_01_dot_51_bar__plus_05_dot_63 loc_bar_4_bar_22_bar_1_bar_60) + (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) + (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) + (objectAtLocation Spoon_bar__minus_00_dot_29_bar__plus_00_dot_76_bar__plus_06_dot_17 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Mug_bar__plus_01_dot_38_bar__plus_01_dot_04_bar__plus_00_dot_85 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 + (sliceable ?o) + (isSliced ?o) + (heatable ?o) + (objectType ?o AppleType) + (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-AppleSliced-None-DiningTable-18/trial_T20190908_204024_506453/traj_data.json 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"Pick up the knife on the kitchen table.", + "Walk around to face the side of the kitchen table.", + "Cut the apple on the table into three slices.", + "Take a step to the left and face the kitchen table.", + "Place the knife on the kitchen table.", + "Take a step to the right to face the apple on the kitchen table.", + "Pick up a piece of apple on the kitchen table.", + "Turn left and walk across the room to face the microwave.", + "Heat the piece of apple in the microwave and remove it.", + "Turn around and walk across the room and turn left to face the kitchen table.", + "Place the piece of apple on the kitchen table." + ], + "task_desc": "To heat a piece of apple 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_heat_then_place_in_recep-AppleSliced-None-DiningTable-18/trial_T20190908_204156_929199/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-AppleSliced-None-DiningTable-18/trial_T20190908_204156_929199/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..f783357f9ae0a2867682ab635fa085e44424a695 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-AppleSliced-None-DiningTable-18/trial_T20190908_204156_929199/initial_state.pddl @@ -0,0 +1,1125 @@ + +(define (problem plan_trial_T20190908_204156_929199) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_04_bar__plus_00_dot_83_bar__plus_06_dot_50 - object + Apple_bar__plus_02_dot_05_bar__plus_01_dot_59_bar__plus_05_dot_63 - object + Apple_bar__minus_00_dot_16_bar__plus_00_dot_83_bar__plus_06_dot_29 - object + Blinds_bar__plus_01_dot_74_bar__plus_02_dot_56_bar__plus_02_dot_31 - object + Bowl_bar__plus_01_dot_53_bar__plus_02_dot_21_bar__plus_03_dot_79 - object + Bread_bar__minus_00_dot_38_bar__plus_00_dot_83_bar__plus_06_dot_70 - object + Bread_bar__minus_00_dot_38_bar__plus_01_dot_06_bar__plus_00_dot_58 - object + ButterKnife_bar__plus_00_dot_13_bar__plus_00_dot_76_bar__plus_06_dot_85 - object + ButterKnife_bar__plus_01_dot_23_bar__plus_00_dot_99_bar__plus_00_dot_44 - object + ButterKnife_bar__minus_00_dot_22_bar__plus_00_dot_76_bar__plus_06_dot_94 - object + Chair_bar__plus_00_dot_29_bar__plus_00_dot_02_bar__plus_06_dot_14 - object + Cup_bar__plus_01_dot_14_bar__plus_01_dot_58_bar__plus_00_dot_30 - object + Cup_bar__minus_00_dot_54_bar__plus_00_dot_99_bar__plus_00_dot_58 - object + DishSponge_bar__plus_00_dot_05_bar__plus_01_dot_58_bar__plus_00_dot_30 - object + DishSponge_bar__plus_01_dot_24_bar__plus_00_dot_14_bar__plus_02_dot_79 - object + DishSponge_bar__plus_01_dot_29_bar__plus_00_dot_77_bar__plus_03_dot_22 - object + Egg_bar__plus_01_dot_28_bar__plus_00_dot_94_bar__plus_02_dot_03 - object + Egg_bar__plus_02_dot_09_bar__plus_01_dot_57_bar__plus_05_dot_50 - object + Egg_bar__minus_00_dot_36_bar__plus_00_dot_81_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_00_dot_10_bar__plus_00_dot_76_bar__plus_06_dot_65 - object + Fork_bar__plus_00_dot_67_bar__plus_00_dot_77_bar__plus_00_dot_56 - object + Fork_bar__plus_00_dot_85_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_01_dot_56_bar__plus_00_dot_99_bar__plus_04_dot_29 - object + Knife_bar__minus_00_dot_47_bar__plus_00_dot_79_bar__plus_06_dot_42 - object + Knife_bar__minus_00_dot_62_bar__plus_00_dot_79_bar__plus_06_dot_54 - object + Lettuce_bar__plus_01_dot_23_bar__plus_01_dot_08_bar__plus_03_dot_32 - object + LightSwitch_bar__minus_02_dot_00_bar__plus_01_dot_55_bar__plus_06_dot_05 - object + Mug_bar__plus_00_dot_96_bar__plus_00_dot_14_bar__plus_00_dot_50 - object + Mug_bar__plus_02_dot_09_bar__plus_01_dot_51_bar__plus_05_dot_88 - object + Pan_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_03_dot_85 - object + Pan_bar__plus_01_dot_57_bar__plus_00_dot_14_bar__plus_01_dot_86 - object + PaperTowelRoll_bar__plus_01_dot_14_bar__plus_01_dot_10_bar__plus_04_dot_67 - object + PepperShaker_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_04_dot_58 - object + PepperShaker_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_04_dot_76 - object + Plate_bar__plus_01_dot_49_bar__plus_00_dot_99_bar__plus_03_dot_42 - object + Potato_bar__plus_01_dot_44_bar__plus_00_dot_93_bar__plus_02_dot_53 - object + Potato_bar__plus_01_dot_97_bar__plus_01_dot_55_bar__plus_05_dot_75 - object + Potato_bar_00_dot_00_bar__plus_00_dot_79_bar__plus_06_dot_35 - object + Pot_bar__plus_00_dot_12_bar__plus_00_dot_15_bar__plus_00_dot_43 - object + SaltShaker_bar__minus_00_dot_41_bar__plus_00_dot_14_bar__plus_00_dot_20 - object + Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33 - object + SoapBottle_bar__plus_00_dot_70_bar__plus_00_dot_99_bar__plus_00_dot_49 - object + Spatula_bar__plus_00_dot_74_bar__plus_00_dot_79_bar__plus_00_dot_51 - object + Spatula_bar__minus_00_dot_54_bar__plus_01_dot_01_bar__plus_00_dot_30 - object + Spatula_bar__minus_00_dot_58_bar__plus_00_dot_78_bar__plus_06_dot_72 - object + Spoon_bar__plus_00_dot_13_bar__plus_00_dot_76_bar__plus_06_dot_85 - object + Spoon_bar__plus_00_dot_60_bar__plus_00_dot_77_bar__plus_00_dot_40 - object + Spoon_bar__minus_00_dot_51_bar__plus_00_dot_76_bar__plus_06_dot_57 - 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_03_bar__plus_00_dot_81_bar__plus_06_dot_17 - object + Tomato_bar__plus_00_dot_62_bar__plus_01_dot_04_bar__plus_00_dot_67 - object + Tomato_bar__minus_00_dot_14_bar__plus_00_dot_81_bar__plus_06_dot_72 - 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 + 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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_4_bar_24_bar_1_bar_15 - 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_3_bar_6_bar_2_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 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+ (pickupable Spatula_bar__minus_00_dot_58_bar__plus_00_dot_78_bar__plus_06_dot_72) + (pickupable Mug_bar__plus_02_dot_09_bar__plus_01_dot_51_bar__plus_05_dot_88) + (pickupable Spoon_bar__plus_00_dot_13_bar__plus_00_dot_76_bar__plus_06_dot_85) + (pickupable ButterKnife_bar__minus_00_dot_22_bar__plus_00_dot_76_bar__plus_06_dot_94) + (pickupable Egg_bar__minus_00_dot_36_bar__plus_00_dot_81_bar__plus_06_dot_50) + (pickupable Apple_bar__plus_00_dot_04_bar__plus_00_dot_83_bar__plus_06_dot_50) + (pickupable Spoon_bar__plus_00_dot_60_bar__plus_00_dot_77_bar__plus_00_dot_40) + (pickupable Pot_bar__plus_00_dot_12_bar__plus_00_dot_15_bar__plus_00_dot_43) + (pickupable Plate_bar__plus_01_dot_49_bar__plus_00_dot_99_bar__plus_03_dot_42) + (pickupable Spoon_bar__minus_00_dot_51_bar__plus_00_dot_76_bar__plus_06_dot_57) + (pickupable Bread_bar__minus_00_dot_38_bar__plus_00_dot_83_bar__plus_06_dot_70) + (pickupable Mug_bar__plus_00_dot_96_bar__plus_00_dot_14_bar__plus_00_dot_50) + (pickupable 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Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_94) + (openable Cabinet_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_00_dot_43) + (openable Cabinet_bar__plus_00_dot_25_bar__plus_02_dot_13_bar__plus_00_dot_43) + (openable Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_03_dot_10) + (openable Drawer_bar__plus_01_dot_28_bar__plus_00_dot_81_bar__plus_04_dot_72) + (openable Cabinet_bar__minus_00_dot_78_bar__plus_00_dot_42_bar__plus_00_dot_74) + (openable Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63) + (openable Microwave_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_26) + + (atLocation agent1 loc_bar__minus_3_bar_6_bar_2_bar_30) + + (cleanable Egg_bar__plus_01_dot_28_bar__plus_00_dot_94_bar__plus_02_dot_03) + (cleanable Potato_bar__plus_01_dot_97_bar__plus_01_dot_55_bar__plus_05_dot_75) + (cleanable Lettuce_bar__plus_01_dot_23_bar__plus_01_dot_08_bar__plus_03_dot_32) + (cleanable Tomato_bar__minus_00_dot_14_bar__plus_00_dot_81_bar__plus_06_dot_72) + (cleanable Apple_bar__minus_00_dot_16_bar__plus_00_dot_83_bar__plus_06_dot_29) + (cleanable DishSponge_bar__plus_01_dot_24_bar__plus_00_dot_14_bar__plus_02_dot_79) + (cleanable DishSponge_bar__plus_00_dot_05_bar__plus_01_dot_58_bar__plus_00_dot_30) + (cleanable Pan_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_03_dot_85) + (cleanable Fork_bar__plus_00_dot_10_bar__plus_00_dot_76_bar__plus_06_dot_65) + (cleanable Cup_bar__plus_01_dot_14_bar__plus_01_dot_58_bar__plus_00_dot_30) + (cleanable ButterKnife_bar__plus_00_dot_13_bar__plus_00_dot_76_bar__plus_06_dot_85) + (cleanable Cup_bar__minus_00_dot_54_bar__plus_00_dot_99_bar__plus_00_dot_58) + (cleanable Tomato_bar__plus_00_dot_62_bar__plus_01_dot_04_bar__plus_00_dot_67) + (cleanable DishSponge_bar__plus_01_dot_29_bar__plus_00_dot_77_bar__plus_03_dot_22) + (cleanable Potato_bar__plus_01_dot_44_bar__plus_00_dot_93_bar__plus_02_dot_53) + (cleanable ButterKnife_bar__plus_01_dot_23_bar__plus_00_dot_99_bar__plus_00_dot_44) + (cleanable Knife_bar__minus_00_dot_62_bar__plus_00_dot_79_bar__plus_06_dot_54) + (cleanable Spatula_bar__minus_00_dot_58_bar__plus_00_dot_78_bar__plus_06_dot_72) + (cleanable Mug_bar__plus_02_dot_09_bar__plus_01_dot_51_bar__plus_05_dot_88) + (cleanable Spoon_bar__plus_00_dot_13_bar__plus_00_dot_76_bar__plus_06_dot_85) + (cleanable ButterKnife_bar__minus_00_dot_22_bar__plus_00_dot_76_bar__plus_06_dot_94) + (cleanable Egg_bar__minus_00_dot_36_bar__plus_00_dot_81_bar__plus_06_dot_50) + (cleanable Apple_bar__plus_00_dot_04_bar__plus_00_dot_83_bar__plus_06_dot_50) + (cleanable Spoon_bar__plus_00_dot_60_bar__plus_00_dot_77_bar__plus_00_dot_40) + (cleanable Pot_bar__plus_00_dot_12_bar__plus_00_dot_15_bar__plus_00_dot_43) + (cleanable Plate_bar__plus_01_dot_49_bar__plus_00_dot_99_bar__plus_03_dot_42) + (cleanable Spoon_bar__minus_00_dot_51_bar__plus_00_dot_76_bar__plus_06_dot_57) + (cleanable Mug_bar__plus_00_dot_96_bar__plus_00_dot_14_bar__plus_00_dot_50) + (cleanable Fork_bar__plus_00_dot_67_bar__plus_00_dot_77_bar__plus_00_dot_56) + (cleanable Tomato_bar__plus_00_dot_03_bar__plus_00_dot_81_bar__plus_06_dot_17) + (cleanable Knife_bar__minus_00_dot_47_bar__plus_00_dot_79_bar__plus_06_dot_42) + (cleanable Potato_bar_00_dot_00_bar__plus_00_dot_79_bar__plus_06_dot_35) + (cleanable Bowl_bar__plus_01_dot_53_bar__plus_02_dot_21_bar__plus_03_dot_79) + (cleanable Pan_bar__plus_01_dot_57_bar__plus_00_dot_14_bar__plus_01_dot_86) + (cleanable Spatula_bar__plus_00_dot_74_bar__plus_00_dot_79_bar__plus_00_dot_51) + (cleanable Apple_bar__plus_02_dot_05_bar__plus_01_dot_59_bar__plus_05_dot_63) + (cleanable Egg_bar__plus_02_dot_09_bar__plus_01_dot_57_bar__plus_05_dot_50) + (cleanable Spatula_bar__minus_00_dot_54_bar__plus_01_dot_01_bar__plus_00_dot_30) + (cleanable Kettle_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_04_dot_29) + (cleanable Fork_bar__plus_00_dot_85_bar__plus_00_dot_99_bar__plus_00_dot_21) + + (heatable Egg_bar__plus_01_dot_28_bar__plus_00_dot_94_bar__plus_02_dot_03) + (heatable Bread_bar__minus_00_dot_38_bar__plus_01_dot_06_bar__plus_00_dot_58) + (heatable Potato_bar__plus_01_dot_97_bar__plus_01_dot_55_bar__plus_05_dot_75) + (heatable Tomato_bar__minus_00_dot_14_bar__plus_00_dot_81_bar__plus_06_dot_72) + (heatable Apple_bar__minus_00_dot_16_bar__plus_00_dot_83_bar__plus_06_dot_29) + (heatable Cup_bar__plus_01_dot_14_bar__plus_01_dot_58_bar__plus_00_dot_30) + (heatable Cup_bar__minus_00_dot_54_bar__plus_00_dot_99_bar__plus_00_dot_58) + (heatable Tomato_bar__plus_00_dot_62_bar__plus_01_dot_04_bar__plus_00_dot_67) + (heatable Potato_bar__plus_01_dot_44_bar__plus_00_dot_93_bar__plus_02_dot_53) + (heatable Mug_bar__plus_02_dot_09_bar__plus_01_dot_51_bar__plus_05_dot_88) + (heatable Egg_bar__minus_00_dot_36_bar__plus_00_dot_81_bar__plus_06_dot_50) + (heatable Apple_bar__plus_00_dot_04_bar__plus_00_dot_83_bar__plus_06_dot_50) + (heatable Plate_bar__plus_01_dot_49_bar__plus_00_dot_99_bar__plus_03_dot_42) + (heatable Bread_bar__minus_00_dot_38_bar__plus_00_dot_83_bar__plus_06_dot_70) + (heatable Mug_bar__plus_00_dot_96_bar__plus_00_dot_14_bar__plus_00_dot_50) + (heatable Tomato_bar__plus_00_dot_03_bar__plus_00_dot_81_bar__plus_06_dot_17) + (heatable Potato_bar_00_dot_00_bar__plus_00_dot_79_bar__plus_06_dot_35) + (heatable Apple_bar__plus_02_dot_05_bar__plus_01_dot_59_bar__plus_05_dot_63) + (heatable Egg_bar__plus_02_dot_09_bar__plus_01_dot_57_bar__plus_05_dot_50) + (coolable Egg_bar__plus_01_dot_28_bar__plus_00_dot_94_bar__plus_02_dot_03) + (coolable Bread_bar__minus_00_dot_38_bar__plus_01_dot_06_bar__plus_00_dot_58) + (coolable Potato_bar__plus_01_dot_97_bar__plus_01_dot_55_bar__plus_05_dot_75) + (coolable Lettuce_bar__plus_01_dot_23_bar__plus_01_dot_08_bar__plus_03_dot_32) + (coolable Tomato_bar__minus_00_dot_14_bar__plus_00_dot_81_bar__plus_06_dot_72) + (coolable Apple_bar__minus_00_dot_16_bar__plus_00_dot_83_bar__plus_06_dot_29) + (coolable Pan_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_03_dot_85) + (coolable Cup_bar__plus_01_dot_14_bar__plus_01_dot_58_bar__plus_00_dot_30) + (coolable Cup_bar__minus_00_dot_54_bar__plus_00_dot_99_bar__plus_00_dot_58) + (coolable Tomato_bar__plus_00_dot_62_bar__plus_01_dot_04_bar__plus_00_dot_67) + (coolable Potato_bar__plus_01_dot_44_bar__plus_00_dot_93_bar__plus_02_dot_53) + (coolable Mug_bar__plus_02_dot_09_bar__plus_01_dot_51_bar__plus_05_dot_88) + (coolable Egg_bar__minus_00_dot_36_bar__plus_00_dot_81_bar__plus_06_dot_50) + (coolable Apple_bar__plus_00_dot_04_bar__plus_00_dot_83_bar__plus_06_dot_50) + (coolable Pot_bar__plus_00_dot_12_bar__plus_00_dot_15_bar__plus_00_dot_43) + (coolable Plate_bar__plus_01_dot_49_bar__plus_00_dot_99_bar__plus_03_dot_42) + (coolable Bread_bar__minus_00_dot_38_bar__plus_00_dot_83_bar__plus_06_dot_70) + (coolable Mug_bar__plus_00_dot_96_bar__plus_00_dot_14_bar__plus_00_dot_50) + (coolable Tomato_bar__plus_00_dot_03_bar__plus_00_dot_81_bar__plus_06_dot_17) + (coolable Potato_bar_00_dot_00_bar__plus_00_dot_79_bar__plus_06_dot_35) + (coolable Bowl_bar__plus_01_dot_53_bar__plus_02_dot_21_bar__plus_03_dot_79) + (coolable Pan_bar__plus_01_dot_57_bar__plus_00_dot_14_bar__plus_01_dot_86) + (coolable Apple_bar__plus_02_dot_05_bar__plus_01_dot_59_bar__plus_05_dot_63) + (coolable Egg_bar__plus_02_dot_09_bar__plus_01_dot_57_bar__plus_05_dot_50) + + (isCool Apple_bar__plus_02_dot_05_bar__plus_01_dot_59_bar__plus_05_dot_63) + + + + (sliceable Egg_bar__plus_01_dot_28_bar__plus_00_dot_94_bar__plus_02_dot_03) + (sliceable Bread_bar__minus_00_dot_38_bar__plus_01_dot_06_bar__plus_00_dot_58) + (sliceable Potato_bar__plus_01_dot_97_bar__plus_01_dot_55_bar__plus_05_dot_75) + (sliceable 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Pan_bar__plus_01_dot_57_bar__plus_00_dot_14_bar__plus_01_dot_86 Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_01_dot_71) + (inReceptacle Bowl_bar__plus_01_dot_53_bar__plus_02_dot_21_bar__plus_03_dot_79 Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_03_dot_61) + (inReceptacle Spoon_bar__plus_00_dot_60_bar__plus_00_dot_77_bar__plus_00_dot_40 Drawer_bar__plus_00_dot_74_bar__plus_00_dot_80_bar__plus_00_dot_52) + (inReceptacle Spatula_bar__plus_00_dot_74_bar__plus_00_dot_79_bar__plus_00_dot_51 Drawer_bar__plus_00_dot_74_bar__plus_00_dot_80_bar__plus_00_dot_52) + (inReceptacle Fork_bar__plus_00_dot_67_bar__plus_00_dot_77_bar__plus_00_dot_56 Drawer_bar__plus_00_dot_74_bar__plus_00_dot_80_bar__plus_00_dot_52) + (inReceptacle DishSponge_bar__plus_01_dot_29_bar__plus_00_dot_77_bar__plus_03_dot_22 Drawer_bar__plus_01_dot_28_bar__plus_00_dot_80_bar__plus_03_dot_29) + (inReceptacle ButterKnife_bar__plus_00_dot_13_bar__plus_00_dot_76_bar__plus_06_dot_85 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Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63) + (inReceptacle Potato_bar__plus_01_dot_97_bar__plus_01_dot_55_bar__plus_05_dot_75 Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63) + (inReceptacle Egg_bar__plus_02_dot_09_bar__plus_01_dot_57_bar__plus_05_dot_50 Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63) + (inReceptacle Potato_bar__plus_01_dot_44_bar__plus_00_dot_93_bar__plus_02_dot_53 Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin) + (inReceptacle Egg_bar__plus_01_dot_28_bar__plus_00_dot_94_bar__plus_02_dot_03 Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin) + + + (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) + (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) + (receptacleAtLocation 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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_51_bar__plus_00_dot_76_bar__plus_06_dot_57 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Mug_bar__plus_00_dot_96_bar__plus_00_dot_14_bar__plus_00_dot_50 loc_bar_1_bar_7_bar_2_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 + (sliceable ?o) + (isSliced ?o) + (heatable ?o) + (objectType ?o AppleType) + (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-AppleSliced-None-DiningTable-18/trial_T20190908_204156_929199/traj_data.json 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", + "Heat the apple piece in the microwave and take it out. ", + "Turn around and go back to the gray round table. ", + "Place the apple on the table on the right of the gray knife. " + ], + "task_desc": "Put a heated piece of apple on the table. ", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-BreadSliced-None-Fridge-24/trial_T20190909_072551_926499/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-BreadSliced-None-Fridge-24/trial_T20190909_072551_926499/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..41805ed097d57f88feee4b10252b3022233d227f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-BreadSliced-None-Fridge-24/trial_T20190909_072551_926499/initial_state.pddl @@ -0,0 +1,1111 @@ + +(define (problem plan_trial_T20190909_072551_926499) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_87_bar__plus_00_dot_09_bar__plus_02_dot_92 - object + Apple_bar__minus_02_dot_58_bar__plus_01_dot_25_bar__plus_02_dot_39 - object + 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Knife_bar__plus_00_dot_65_bar__plus_00_dot_85_bar__plus_01_dot_03 - object + Knife_bar__plus_01_dot_10_bar__plus_00_dot_84_bar__plus_02_dot_28 - object + Lettuce_bar__minus_01_dot_19_bar__plus_00_dot_98_bar__plus_01_dot_56 - object + Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_98_bar__plus_01_dot_35 - object + LightSwitch_bar__plus_00_dot_83_bar__plus_01_dot_40_bar__plus_04_dot_08 - object + Mug_bar__plus_00_dot_66_bar__plus_00_dot_12_bar__plus_00_dot_90 - object + Mug_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_03_dot_73 - object + Mug_bar__minus_02_dot_64_bar__plus_01_dot_40_bar__plus_02_dot_17 - object + Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74 - object + PaperTowelRoll_bar__plus_00_dot_96_bar__plus_00_dot_13_bar__plus_02_dot_95 - object + PepperShaker_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_45 - object + PepperShaker_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_00_dot_94 - object + Plate_bar__minus_01_dot_75_bar__plus_01_dot_69_bar__plus_03_dot_90 - object + Potato_bar__minus_01_dot_49_bar__plus_01_dot_40_bar__plus_03_dot_87 - object + Potato_bar__minus_01_dot_84_bar__plus_00_dot_74_bar__plus_03_dot_86 - object + Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_77 - object + SaltShaker_bar__plus_00_dot_88_bar__plus_00_dot_82_bar__plus_02_dot_20 - object + SaltShaker_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_56 - object + Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83 - object + SoapBottle_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_14 - object + SoapBottle_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_01_dot_56 - object + Spatula_bar__minus_00_dot_79_bar__plus_00_dot_92_bar__plus_01_dot_35 - object + Spoon_bar__plus_01_dot_03_bar__plus_00_dot_82_bar__plus_02_dot_37 - object + Spoon_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_45 - object + Spoon_bar__minus_02_dot_09_bar__plus_00_dot_70_bar__plus_03_dot_70 - object + StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_32 - object + StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_48 - object + StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_73 - object + StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_89 - object + Tomato_bar__minus_02_dot_58_bar__plus_00_dot_84_bar__plus_02_dot_22 - object + Window_bar__minus_01_dot_13_bar__plus_01_dot_67_bar__plus_00_dot_81 - object + Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_00_dot_82 - receptacle + Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_36 - receptacle + Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_69 - receptacle + Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_67_bar__plus_03_dot_74 - receptacle + Cabinet_bar__minus_00_dot_42_bar__plus_01_dot_70_bar__plus_03_dot_74 - receptacle + Cabinet_bar__minus_01_dot_10_bar__plus_01_dot_93_bar__plus_03_dot_73 - receptacle + Cabinet_bar__minus_01_dot_14_bar__plus_00_dot_39_bar__plus_03_dot_52 - receptacle + Cabinet_bar__minus_01_dot_96_bar__plus_01_dot_93_bar__plus_03_dot_73 - receptacle + Cabinet_bar__minus_01_dot_97_bar__plus_00_dot_39_bar__plus_03_dot_52 - receptacle + Cabinet_bar__minus_01_dot_98_bar__plus_01_dot_78_bar__plus_03_dot_73 - receptacle + Cabinet_bar__minus_01_dot_99_bar__plus_00_dot_39_bar__plus_03_dot_51 - receptacle + Cabinet_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__plus_01_dot_68 - receptacle + Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_41_bar__plus_01_dot_68 - receptacle + Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_69_bar__plus_02_dot_57 - receptacle + Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_93_bar__plus_01_dot_69 - receptacle + Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_06 - receptacle + Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_69 - receptacle + Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_56 - receptacle + Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_03_dot_18 - receptacle + Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_17 - receptacle + Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_42 - receptacle + Cabinet_bar__minus_02_dot_62_bar__plus_01_dot_93_bar__plus_03_dot_73 - receptacle + Cabinet_bar__minus_02_dot_95_bar__plus_01_dot_93_bar__plus_03_dot_73 - receptacle + CoffeeMachine_bar__minus_01_dot_00_bar__plus_00_dot_89_bar__plus_01_dot_03 - receptacle + CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98 - receptacle + CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37 - receptacle + CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80 - receptacle + DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32 - receptacle + Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_00_dot_98 - receptacle + Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_20 - receptacle + Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_53 - receptacle + Drawer_bar__minus_02_dot_11_bar__plus_00_dot_71_bar__plus_03_dot_66 - receptacle + Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13 - receptacle + GarbageCan_bar__plus_00_dot_93_bar__plus_00_dot_00_bar__plus_02_dot_92 - receptacle + Microwave_bar__minus_01_dot_53_bar__plus_01_dot_25_bar__plus_03_dot_88 - receptacle + Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83_bar_SinkBasin - receptacle + StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_38 - receptacle + StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_77 - receptacle + StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_38 - receptacle + StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_77 - receptacle + Toaster_bar__minus_02_dot_25_bar__plus_00_dot_81_bar__plus_03_dot_86 - receptacle + loc_bar__minus_6_bar_13_bar_0_bar_60 - location + loc_bar__minus_7_bar_11_bar_3_bar_0 - location + loc_bar__minus_5_bar_13_bar_3_bar_45 - location + loc_bar_1_bar_10_bar_1_bar_45 - location + loc_bar_0_bar_6_bar_1_bar_30 - location + loc_bar_0_bar_7_bar_1_bar_45 - location + loc_bar__minus_7_bar_6_bar_3_bar_15 - location + loc_bar__minus_7_bar_11_bar_0_bar_0 - location + loc_bar__minus_6_bar_13_bar_0_bar__minus_30 - location + loc_bar__minus_3_bar_12_bar_0_bar_60 - location + loc_bar_2_bar_12_bar_1_bar_60 - location + loc_bar_0_bar_5_bar_1_bar_60 - location + loc_bar__minus_3_bar_10_bar_0_bar_45 - location + loc_bar__minus_1_bar_10_bar_1_bar_45 - location + loc_bar__minus_6_bar_9_bar_3_bar__minus_15 - location + loc_bar_0_bar_7_bar_2_bar_45 - location + loc_bar__minus_7_bar_12_bar_3_bar__minus_30 - location + loc_bar__minus_5_bar_10_bar_0_bar_45 - location + loc_bar__minus_6_bar_13_bar_0_bar_30 - location + loc_bar_0_bar_7_bar_1_bar_30 - location + loc_bar__minus_7_bar_9_bar_3_bar_60 - location + loc_bar__minus_4_bar_8_bar_2_bar_45 - location + loc_bar_0_bar_8_bar_1_bar_30 - location + loc_bar__minus_1_bar_12_bar_1_bar_60 - location + loc_bar__minus_3_bar_8_bar_2_bar_60 - location + loc_bar__minus_7_bar_7_bar_3_bar__minus_30 - location + loc_bar_2_bar_14_bar_0_bar_30 - location + loc_bar__minus_7_bar_12_bar_0_bar_60 - location + loc_bar__minus_4_bar_8_bar_2_bar_60 - location + loc_bar__minus_6_bar_13_bar_3_bar__minus_15 - location + loc_bar_0_bar_5_bar_1_bar_45 - location + loc_bar_0_bar_5_bar_1_bar_30 - location + loc_bar__minus_5_bar_8_bar_3_bar_45 - location + loc_bar_0_bar_6_bar_1_bar_45 - location + loc_bar__minus_7_bar_12_bar_0_bar_45 - location + loc_bar__minus_7_bar_6_bar_3_bar__minus_30 - location + loc_bar__minus_3_bar_13_bar_0_bar_0 - location + loc_bar__minus_1_bar_11_bar_1_bar_60 - location + loc_bar__minus_7_bar_6_bar_2_bar_0 - location + loc_bar__minus_6_bar_12_bar_3_bar_60 - location + loc_bar__minus_1_bar_12_bar_1_bar_45 - location + loc_bar_3_bar_14_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_36 CabinetType) + (receptacleType CoffeeMachine_bar__minus_01_dot_00_bar__plus_00_dot_89_bar__plus_01_dot_03 CoffeeMachineType) + (receptacleType Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_20 DrawerType) + (receptacleType Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_42 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_41_bar__plus_01_dot_68 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_69_bar__plus_02_dot_57 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_93_bar__plus_01_dot_69 CabinetType) + (receptacleType Drawer_bar__minus_02_dot_11_bar__plus_00_dot_71_bar__plus_03_dot_66 DrawerType) + (receptacleType CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98 CounterTopType) + (receptacleType Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_53 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_42_bar__plus_01_dot_70_bar__plus_03_dot_74 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_67_bar__plus_03_dot_74 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_14_bar__plus_00_dot_39_bar__plus_03_dot_52 CabinetType) + (receptacleType Toaster_bar__minus_02_dot_25_bar__plus_00_dot_81_bar__plus_03_dot_86 ToasterType) + (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__plus_01_dot_68 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_03_dot_18 CabinetType) + (receptacleType DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32 DiningTableType) + (receptacleType Cabinet_bar__minus_01_dot_96_bar__plus_01_dot_93_bar__plus_03_dot_73 CabinetType) + (receptacleType StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_77 StoveBurnerType) + (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_06 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_95_bar__plus_01_dot_93_bar__plus_03_dot_73 CabinetType) + (receptacleType CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80 CounterTopType) + (receptacleType Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_17 CabinetType) + (receptacleType StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_38 StoveBurnerType) + (receptacleType Microwave_bar__minus_01_dot_53_bar__plus_01_dot_25_bar__plus_03_dot_88 MicrowaveType) + (receptacleType Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13 FridgeType) + (receptacleType StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_77 StoveBurnerType) + (receptacleType Cabinet_bar__minus_01_dot_10_bar__plus_01_dot_93_bar__plus_03_dot_73 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_98_bar__plus_01_dot_78_bar__plus_03_dot_73 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_99_bar__plus_00_dot_39_bar__plus_03_dot_51 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_69 CabinetType) + (receptacleType StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_38 StoveBurnerType) + (receptacleType CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37 CounterTopType) + (receptacleType GarbageCan_bar__plus_00_dot_93_bar__plus_00_dot_00_bar__plus_02_dot_92 GarbageCanType) + (receptacleType Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83_bar_SinkBasin SinkBasinType) + (receptacleType 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Egg_bar__minus_01_dot_75_bar__plus_01_dot_40_bar__plus_03_dot_87) + (cleanable Spoon_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_45) + (cleanable Egg_bar__minus_02_dot_74_bar__plus_01_dot_64_bar__plus_02_dot_22) + (cleanable ButterKnife_bar__minus_01_dot_70_bar__plus_00_dot_82_bar__plus_03_dot_52) + (cleanable Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74) + (cleanable Spatula_bar__minus_00_dot_79_bar__plus_00_dot_92_bar__plus_01_dot_35) + (cleanable Knife_bar__plus_01_dot_10_bar__plus_00_dot_84_bar__plus_02_dot_28) + (cleanable Tomato_bar__minus_02_dot_58_bar__plus_00_dot_84_bar__plus_02_dot_22) + (cleanable Apple_bar__minus_02_dot_58_bar__plus_01_dot_25_bar__plus_02_dot_39) + (cleanable Mug_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_03_dot_73) + (cleanable Bowl_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_01_dot_14) + (cleanable Cup_bar__minus_00_dot_79_bar__plus_00_dot_90_bar__plus_01_dot_45) + (cleanable Potato_bar__minus_01_dot_84_bar__plus_00_dot_74_bar__plus_03_dot_86) + (cleanable Spoon_bar__minus_02_dot_09_bar__plus_00_dot_70_bar__plus_03_dot_70) + (cleanable Potato_bar__minus_01_dot_49_bar__plus_01_dot_40_bar__plus_03_dot_87) + (cleanable Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_98_bar__plus_01_dot_35) + (cleanable Spoon_bar__plus_01_dot_03_bar__plus_00_dot_82_bar__plus_02_dot_37) + (cleanable Apple_bar__plus_00_dot_87_bar__plus_00_dot_09_bar__plus_02_dot_92) + (cleanable Mug_bar__minus_02_dot_64_bar__plus_01_dot_40_bar__plus_02_dot_17) + (cleanable Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_77) + (cleanable Egg_bar__minus_01_dot_05_bar__plus_00_dot_94_bar__plus_01_dot_35) + (cleanable Knife_bar__plus_00_dot_65_bar__plus_00_dot_85_bar__plus_01_dot_03) + + (heatable Plate_bar__minus_01_dot_75_bar__plus_01_dot_69_bar__plus_03_dot_90) + (heatable Mug_bar__plus_00_dot_66_bar__plus_00_dot_12_bar__plus_00_dot_90) + (heatable 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Knife_bar__plus_00_dot_65_bar__plus_00_dot_85_bar__plus_01_dot_03 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98) + (inReceptacle Mug_bar__plus_00_dot_66_bar__plus_00_dot_12_bar__plus_00_dot_90 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_00_dot_82) + (inReceptacle Bread_bar__plus_00_dot_83_bar__plus_00_dot_86_bar__plus_02_dot_45 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37) + (inReceptacle Knife_bar__plus_01_dot_10_bar__plus_00_dot_84_bar__plus_02_dot_28 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37) + (inReceptacle SaltShaker_bar__plus_00_dot_88_bar__plus_00_dot_82_bar__plus_02_dot_20 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37) + (inReceptacle Spoon_bar__plus_01_dot_03_bar__plus_00_dot_82_bar__plus_02_dot_37 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37) + (inReceptacle Spoon_bar__minus_02_dot_09_bar__plus_00_dot_70_bar__plus_03_dot_70 Drawer_bar__minus_02_dot_11_bar__plus_00_dot_71_bar__plus_03_dot_66) + (inReceptacle SaltShaker_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_56 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32) + (inReceptacle Spoon_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_45 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32) + (inReceptacle Lettuce_bar__minus_01_dot_19_bar__plus_00_dot_98_bar__plus_01_dot_56 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32) + (inReceptacle PepperShaker_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_45 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32) + (inReceptacle Spatula_bar__minus_00_dot_79_bar__plus_00_dot_92_bar__plus_01_dot_35 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32) + (inReceptacle PepperShaker_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_00_dot_94 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32) + (inReceptacle SoapBottle_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_14 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32) + (inReceptacle Egg_bar__minus_01_dot_05_bar__plus_00_dot_94_bar__plus_01_dot_35 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32) + (inReceptacle Bowl_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_01_dot_14 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32) + (inReceptacle SoapBottle_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_01_dot_56 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32) + (inReceptacle Cup_bar__minus_00_dot_79_bar__plus_00_dot_90_bar__plus_01_dot_45 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32) + (inReceptacle Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_98_bar__plus_01_dot_35 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32) + (inReceptacle Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_77 StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_77) + (inReceptacle ButterKnife_bar__minus_01_dot_70_bar__plus_00_dot_82_bar__plus_03_dot_52 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80) + (inReceptacle Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80) + (inReceptacle Egg_bar__minus_01_dot_75_bar__plus_01_dot_40_bar__plus_03_dot_87 Microwave_bar__minus_01_dot_53_bar__plus_01_dot_25_bar__plus_03_dot_88) + (inReceptacle Potato_bar__minus_01_dot_49_bar__plus_01_dot_40_bar__plus_03_dot_87 Microwave_bar__minus_01_dot_53_bar__plus_01_dot_25_bar__plus_03_dot_88) + (inReceptacle Egg_bar__minus_02_dot_74_bar__plus_01_dot_64_bar__plus_02_dot_22 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Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83_bar_SinkBasin) + (inReceptacle Potato_bar__minus_01_dot_84_bar__plus_00_dot_74_bar__plus_03_dot_86 Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83_bar_SinkBasin) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_00_dot_82 loc_bar_0_bar_5_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_36 loc_bar__minus_1_bar_11_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_69 loc_bar__minus_1_bar_12_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_67_bar__plus_03_dot_74 loc_bar__minus_3_bar_12_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_42_bar__plus_01_dot_70_bar__plus_03_dot_74 loc_bar__minus_3_bar_13_bar_0_bar_0) + (receptacleAtLocation Cabinet_bar__minus_01_dot_10_bar__plus_01_dot_93_bar__plus_03_dot_73 loc_bar__minus_6_bar_13_bar_0_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_14_bar__plus_00_dot_39_bar__plus_03_dot_52 loc_bar__minus_3_bar_10_bar_0_bar_45) + (receptacleAtLocation Cabinet_bar__minus_01_dot_96_bar__plus_01_dot_93_bar__plus_03_dot_73 loc_bar__minus_6_bar_13_bar_0_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_97_bar__plus_00_dot_39_bar__plus_03_dot_52 loc_bar__minus_5_bar_10_bar_0_bar_45) + (receptacleAtLocation Cabinet_bar__minus_01_dot_98_bar__plus_01_dot_78_bar__plus_03_dot_73 loc_bar__minus_7_bar_11_bar_0_bar_0) + (receptacleAtLocation Cabinet_bar__minus_01_dot_99_bar__plus_00_dot_39_bar__plus_03_dot_51 loc_bar__minus_7_bar_12_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__plus_01_dot_68 loc_bar__minus_5_bar_8_bar_3_bar_45) + (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_41_bar__plus_01_dot_68 loc_bar__minus_7_bar_6_bar_3_bar_15) + (receptacleAtLocation 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loc_bar__minus_4_bar_8_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_00_dot_98 loc_bar_0_bar_7_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_20 loc_bar__minus_1_bar_10_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_53 loc_bar__minus_1_bar_12_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_11_bar__plus_00_dot_71_bar__plus_03_dot_66 loc_bar__minus_7_bar_12_bar_0_bar_60) + (receptacleAtLocation Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13 loc_bar__minus_7_bar_9_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_00_dot_93_bar__plus_00_dot_00_bar__plus_02_dot_92 loc_bar_2_bar_12_bar_1_bar_60) + (receptacleAtLocation Microwave_bar__minus_01_dot_53_bar__plus_01_dot_25_bar__plus_03_dot_88 loc_bar__minus_6_bar_13_bar_0_bar_30) + (receptacleAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83_bar_SinkBasin loc_bar__minus_6_bar_13_bar_0_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_38 loc_bar_0_bar_6_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_77 loc_bar_0_bar_7_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_38 loc_bar_0_bar_6_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_77 loc_bar_0_bar_7_bar_1_bar_45) + (receptacleAtLocation Toaster_bar__minus_02_dot_25_bar__plus_00_dot_81_bar__plus_03_dot_86 loc_bar__minus_7_bar_12_bar_0_bar_45) + (objectAtLocation Mug_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_03_dot_73 loc_bar__minus_6_bar_13_bar_0_bar_60) + (objectAtLocation Knife_bar__plus_01_dot_10_bar__plus_00_dot_84_bar__plus_02_dot_28 loc_bar_1_bar_10_bar_1_bar_45) + (objectAtLocation Apple_bar__plus_00_dot_87_bar__plus_00_dot_09_bar__plus_02_dot_92 loc_bar_2_bar_12_bar_1_bar_60) + (objectAtLocation Spoon_bar__minus_02_dot_09_bar__plus_00_dot_70_bar__plus_03_dot_70 loc_bar__minus_7_bar_12_bar_0_bar_60) + (objectAtLocation Lettuce_bar__minus_01_dot_19_bar__plus_00_dot_98_bar__plus_01_dot_56 loc_bar__minus_4_bar_8_bar_2_bar_60) + (objectAtLocation PepperShaker_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_45 loc_bar__minus_4_bar_8_bar_2_bar_60) + (objectAtLocation SaltShaker_bar__plus_00_dot_88_bar__plus_00_dot_82_bar__plus_02_dot_20 loc_bar_1_bar_10_bar_1_bar_45) + (objectAtLocation Egg_bar__minus_01_dot_75_bar__plus_01_dot_40_bar__plus_03_dot_87 loc_bar__minus_6_bar_13_bar_0_bar_30) + (objectAtLocation SoapBottle_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_01_dot_56 loc_bar__minus_4_bar_8_bar_2_bar_60) + (objectAtLocation Potato_bar__minus_01_dot_49_bar__plus_01_dot_40_bar__plus_03_dot_87 loc_bar__minus_6_bar_13_bar_0_bar_30) + (objectAtLocation Mug_bar__minus_02_dot_64_bar__plus_01_dot_40_bar__plus_02_dot_17 loc_bar__minus_7_bar_9_bar_3_bar_60) + (objectAtLocation Egg_bar__minus_01_dot_05_bar__plus_00_dot_94_bar__plus_01_dot_35 loc_bar__minus_4_bar_8_bar_2_bar_60) + (objectAtLocation Spoon_bar__plus_01_dot_03_bar__plus_00_dot_82_bar__plus_02_dot_37 loc_bar_1_bar_10_bar_1_bar_45) + (objectAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83 loc_bar__minus_6_bar_13_bar_0_bar_60) + (objectAtLocation Plate_bar__minus_01_dot_75_bar__plus_01_dot_69_bar__plus_03_dot_90 loc_bar__minus_6_bar_13_bar_0_bar__minus_30) + (objectAtLocation Fork_bar__plus_00_dot_73_bar__plus_00_dot_82_bar__plus_00_dot_94 loc_bar_0_bar_5_bar_1_bar_45) + (objectAtLocation LightSwitch_bar__plus_00_dot_83_bar__plus_01_dot_40_bar__plus_04_dot_08 loc_bar_2_bar_14_bar_0_bar_30) + (objectAtLocation Bread_bar__plus_00_dot_83_bar__plus_00_dot_86_bar__plus_02_dot_45 loc_bar_1_bar_10_bar_1_bar_45) + (objectAtLocation Chair_bar__minus_00_dot_87_bar__plus_00_dot_49_bar__plus_01_dot_50 loc_bar__minus_3_bar_8_bar_2_bar_60) + (objectAtLocation Window_bar__minus_01_dot_13_bar__plus_01_dot_67_bar__plus_00_dot_81 loc_bar__minus_7_bar_6_bar_2_bar_0) + (objectAtLocation Spatula_bar__minus_00_dot_79_bar__plus_00_dot_92_bar__plus_01_dot_35 loc_bar__minus_4_bar_8_bar_2_bar_60) + (objectAtLocation PaperTowelRoll_bar__plus_00_dot_96_bar__plus_00_dot_13_bar__plus_02_dot_95 loc_bar_2_bar_12_bar_1_bar_60) + (objectAtLocation Potato_bar__minus_01_dot_84_bar__plus_00_dot_74_bar__plus_03_dot_86 loc_bar__minus_6_bar_13_bar_0_bar_60) + (objectAtLocation SoapBottle_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_14 loc_bar__minus_4_bar_8_bar_2_bar_60) + (objectAtLocation Egg_bar__minus_02_dot_74_bar__plus_01_dot_64_bar__plus_02_dot_22 loc_bar__minus_7_bar_9_bar_3_bar_60) + (objectAtLocation Cup_bar__minus_00_dot_79_bar__plus_00_dot_90_bar__plus_01_dot_45 loc_bar__minus_4_bar_8_bar_2_bar_60) + (objectAtLocation Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_77 loc_bar_0_bar_7_bar_1_bar_45) + (objectAtLocation SaltShaker_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_56 loc_bar__minus_4_bar_8_bar_2_bar_60) + (objectAtLocation Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74 loc_bar__minus_7_bar_12_bar_0_bar_45) + (objectAtLocation PepperShaker_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_00_dot_94 loc_bar__minus_4_bar_8_bar_2_bar_60) + (objectAtLocation ButterKnife_bar__minus_01_dot_70_bar__plus_00_dot_82_bar__plus_03_dot_52 loc_bar__minus_7_bar_12_bar_0_bar_45) + (objectAtLocation StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_89 loc_bar_0_bar_8_bar_1_bar_30) + (objectAtLocation StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_73 loc_bar_0_bar_7_bar_1_bar_30) + (objectAtLocation StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_32 loc_bar_0_bar_5_bar_1_bar_30) + (objectAtLocation 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Bowl_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_01_dot_14 loc_bar__minus_4_bar_8_bar_2_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (sliceable ?o) + (isSliced ?o) + (heatable ?o) + (objectType ?o BreadType) + (receptacleType ?r FridgeType) + (isHot ?o) + (inReceptacle ?o ?r) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-BreadSliced-None-Fridge-24/trial_T20190909_072551_926499/traj_data.json b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-BreadSliced-None-Fridge-24/trial_T20190909_072551_926499/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..a26e428362baf80fbeaf10933cb0697606e8a85c --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-BreadSliced-None-Fridge-24/trial_T20190909_072551_926499/traj_data.json @@ -0,0 +1,13090 @@ +{ + "images": [ + { + "high_idx": 0, + 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", + "Pick up the knife on the counter in front of the two sinks. ", + "Turn to your right and go to the counter to the left of the stove, across the room. ", + "Cut the loaf of bread on the counter in to slices. ", + "Turn around and go across the kitchen to the microwave above the sink, on your right. ", + "Place the knife in the microwave, above the sink. ", + "Turn to your right and go across the kitchen, back to the counter where the sliced bread is. ", + "Pick up one of the slices of bread from the counter. ", + "Turn around and go back across the kitchen to the microwave, above the sink.", + "Place the slice of bread in the microwave, heat it up, then remove the slice of bread from the microwave. ", + "Turn around and go to the refrigerator on your right. ", + "Place the slice of bread in the refrigerator, on the second shelf. " + ], + "task_desc": "Put a knife in the microwave and a warm slice of bread in the refrigerator. ", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3A0VPWPASCO9J_3VJ40NV2QLEJNI3KK0LPUPFE3FJOTF", + "high_descs": [ + "Go to the sink.", + "Pick up the butter knife in front of the sink.", + "Go to the counter to the left of the stove.", + "Slice the loaf of bread on the counter.", + "Go back across the room to the microwave above the sink.", + "Put the butter knife in the microwave.", + "Move to the counter on the left of the stove.", + "Pick up a slice of bread.", + "Go to the microwave above the stove.", + "Heat the bread in the microwave.", + "Take the hot bread to the fridge.", + "Put the slice in the fridge." + ], + "task_desc": "Put a warm slice of bread in the fridge.", + "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-Fridge-24/trial_T20190909_073110_047132/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-BreadSliced-None-Fridge-24/trial_T20190909_073110_047132/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..0d55d74dad3d9c79b8cdebf64c0ecebab13001da --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-BreadSliced-None-Fridge-24/trial_T20190909_073110_047132/initial_state.pddl @@ -0,0 +1,1120 @@ + +(define (problem plan_trial_T20190909_073110_047132) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_52_bar__plus_00_dot_96_bar__plus_01_dot_56 - object + Apple_bar__minus_02_dot_64_bar__plus_01_dot_25_bar__plus_02_dot_17 - object + Bowl_bar__plus_00_dot_74_bar__plus_00_dot_12_bar__plus_02_dot_16 - object + Bowl_bar__minus_02_dot_12_bar__plus_00_dot_13_bar__plus_03_dot_71 - object + Bread_bar__minus_01_dot_19_bar__plus_00_dot_95_bar__plus_01_dot_45 - object + ButterKnife_bar__plus_00_dot_88_bar__plus_00_dot_82_bar__plus_02_dot_63 - object + Chair_bar__minus_00_dot_87_bar__plus_00_dot_49_bar__plus_01_dot_50 - object + Cup_bar__minus_00_dot_79_bar__plus_00_dot_90_bar__plus_01_dot_56 - object + Cup_bar__minus_01_dot_20_bar__plus_01_dot_68_bar__plus_03_dot_98 - object + DishSponge_bar__plus_00_dot_74_bar__plus_00_dot_69_bar__plus_02_dot_20 - object + Egg_bar__plus_00_dot_96_bar__plus_00_dot_06_bar__plus_02_dot_92 - object + Egg_bar__minus_01_dot_32_bar__plus_00_dot_94_bar__plus_01_dot_14 - object + Faucet_bar__minus_01_dot_37_bar__plus_00_dot_81_bar__plus_03_dot_99 - object + Faucet_bar__minus_01_dot_84_bar__plus_00_dot_81_bar__plus_03_dot_99 - object + Fork_bar__plus_01_dot_02_bar__plus_00_dot_82_bar__plus_00_dot_94 - object + Fork_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_01_dot_14 - object + Fork_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_01_dot_25 - object + Knife_bar__minus_00_dot_66_bar__plus_00_dot_92_bar__plus_01_dot_04 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Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_38 - object + Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_77 - object + SaltShaker_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__plus_02_dot_46 - object + SaltShaker_bar__minus_01_dot_31_bar__plus_01_dot_68_bar__plus_03_dot_82 - object + SaltShaker_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_00_dot_94 - object + Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83 - object + SoapBottle_bar__plus_00_dot_88_bar__plus_00_dot_82_bar__plus_02_dot_46 - object + SoapBottle_bar__minus_02_dot_82_bar__plus_01_dot_40_bar__plus_03_dot_86 - object + Spatula_bar__plus_00_dot_95_bar__plus_00_dot_84_bar__plus_02_dot_11 - object + Spoon_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_04 - object + StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_32 - object + StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_48 - object + StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_73 - object + StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_89 - object + Tomato_bar__minus_02_dot_46_bar__plus_01_dot_06_bar__plus_02_dot_33 - object + Window_bar__minus_01_dot_13_bar__plus_01_dot_67_bar__plus_00_dot_81 - object + Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_00_dot_82 - receptacle + Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_36 - receptacle + Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_69 - receptacle + Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_67_bar__plus_03_dot_74 - receptacle + Cabinet_bar__minus_00_dot_42_bar__plus_01_dot_70_bar__plus_03_dot_74 - receptacle + Cabinet_bar__minus_01_dot_10_bar__plus_01_dot_93_bar__plus_03_dot_73 - receptacle + Cabinet_bar__minus_01_dot_14_bar__plus_00_dot_39_bar__plus_03_dot_52 - receptacle + Cabinet_bar__minus_01_dot_96_bar__plus_01_dot_93_bar__plus_03_dot_73 - receptacle + Cabinet_bar__minus_01_dot_97_bar__plus_00_dot_39_bar__plus_03_dot_52 - receptacle + Cabinet_bar__minus_01_dot_98_bar__plus_01_dot_78_bar__plus_03_dot_73 - receptacle + Cabinet_bar__minus_01_dot_99_bar__plus_00_dot_39_bar__plus_03_dot_51 - receptacle + Cabinet_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__plus_01_dot_68 - receptacle + Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_41_bar__plus_01_dot_68 - receptacle + Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_69_bar__plus_02_dot_57 - receptacle + Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_93_bar__plus_01_dot_69 - receptacle + Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_06 - receptacle + Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_69 - receptacle + Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_56 - receptacle + Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_03_dot_18 - receptacle + Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_17 - receptacle + Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_42 - receptacle + Cabinet_bar__minus_02_dot_62_bar__plus_01_dot_93_bar__plus_03_dot_73 - receptacle + Cabinet_bar__minus_02_dot_95_bar__plus_01_dot_93_bar__plus_03_dot_73 - receptacle + CoffeeMachine_bar__minus_01_dot_00_bar__plus_00_dot_89_bar__plus_01_dot_03 - receptacle + CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98 - receptacle + CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37 - receptacle + CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80 - receptacle + DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32 - receptacle + Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_00_dot_98 - receptacle + Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_20 - receptacle + Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_53 - receptacle + Drawer_bar__minus_02_dot_11_bar__plus_00_dot_71_bar__plus_03_dot_66 - receptacle + Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13 - receptacle + GarbageCan_bar__plus_00_dot_93_bar__plus_00_dot_00_bar__plus_02_dot_92 - receptacle + Microwave_bar__minus_01_dot_53_bar__plus_01_dot_25_bar__plus_03_dot_88 - receptacle + Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83_bar_SinkBasin - receptacle + StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_38 - receptacle + StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_77 - receptacle + StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_38 - receptacle + StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_77 - receptacle + Toaster_bar__minus_02_dot_25_bar__plus_00_dot_81_bar__plus_03_dot_86 - receptacle + loc_bar__minus_6_bar_13_bar_0_bar_60 - location + loc_bar__minus_7_bar_11_bar_3_bar_0 - location + loc_bar__minus_5_bar_13_bar_3_bar_45 - location + loc_bar_1_bar_10_bar_1_bar_45 - location + loc_bar_0_bar_6_bar_1_bar_30 - location + loc_bar_0_bar_7_bar_1_bar_45 - location + loc_bar__minus_7_bar_6_bar_3_bar_15 - location + loc_bar__minus_7_bar_11_bar_0_bar_0 - location + loc_bar__minus_6_bar_13_bar_0_bar__minus_30 - location + loc_bar__minus_3_bar_12_bar_0_bar_60 - location + loc_bar_2_bar_12_bar_1_bar_60 - location + loc_bar_0_bar_5_bar_1_bar_60 - location + loc_bar__minus_3_bar_10_bar_0_bar_45 - location + loc_bar__minus_1_bar_10_bar_1_bar_45 - location + loc_bar__minus_6_bar_9_bar_3_bar__minus_15 - location + loc_bar_0_bar_7_bar_2_bar_45 - location + loc_bar__minus_7_bar_12_bar_3_bar__minus_30 - location + loc_bar__minus_5_bar_10_bar_0_bar_45 - location + loc_bar__minus_6_bar_13_bar_0_bar_30 - location + loc_bar_0_bar_7_bar_1_bar_30 - location + loc_bar__minus_7_bar_9_bar_3_bar_60 - location + loc_bar__minus_4_bar_8_bar_2_bar_45 - location + loc_bar_0_bar_8_bar_1_bar_30 - location + loc_bar__minus_1_bar_12_bar_1_bar_60 - location + loc_bar__minus_3_bar_8_bar_2_bar_60 - location + loc_bar__minus_7_bar_7_bar_3_bar__minus_30 - location + loc_bar_2_bar_14_bar_0_bar_30 - location + loc_bar__minus_7_bar_12_bar_0_bar_60 - location + loc_bar__minus_4_bar_8_bar_2_bar_60 - location + loc_bar__minus_6_bar_13_bar_3_bar__minus_15 - location + loc_bar_0_bar_5_bar_1_bar_45 - location + loc_bar_0_bar_5_bar_1_bar_30 - location + loc_bar__minus_5_bar_8_bar_3_bar_45 - location + loc_bar_0_bar_6_bar_1_bar_45 - location + loc_bar__minus_7_bar_12_bar_0_bar_45 - location + loc_bar__minus_7_bar_6_bar_3_bar__minus_30 - location + loc_bar__minus_3_bar_13_bar_0_bar_0 - location + loc_bar__minus_1_bar_11_bar_1_bar_60 - location + loc_bar__minus_7_bar_6_bar_2_bar_0 - location + loc_bar__minus_6_bar_12_bar_3_bar_60 - location + loc_bar__minus_1_bar_12_bar_1_bar_45 - location + loc_bar_1_bar_11_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_36 CabinetType) + (receptacleType CoffeeMachine_bar__minus_01_dot_00_bar__plus_00_dot_89_bar__plus_01_dot_03 CoffeeMachineType) + (receptacleType Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_20 DrawerType) + (receptacleType Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_42 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_41_bar__plus_01_dot_68 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_69_bar__plus_02_dot_57 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_93_bar__plus_01_dot_69 CabinetType) + (receptacleType Drawer_bar__minus_02_dot_11_bar__plus_00_dot_71_bar__plus_03_dot_66 DrawerType) + (receptacleType CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98 CounterTopType) + (receptacleType Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_53 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_42_bar__plus_01_dot_70_bar__plus_03_dot_74 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_67_bar__plus_03_dot_74 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_14_bar__plus_00_dot_39_bar__plus_03_dot_52 CabinetType) + (receptacleType Toaster_bar__minus_02_dot_25_bar__plus_00_dot_81_bar__plus_03_dot_86 ToasterType) + (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__plus_01_dot_68 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_03_dot_18 CabinetType) + (receptacleType DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32 DiningTableType) + (receptacleType Cabinet_bar__minus_01_dot_96_bar__plus_01_dot_93_bar__plus_03_dot_73 CabinetType) + (receptacleType StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_77 StoveBurnerType) + (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_06 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Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_69) + (openable Cabinet_bar__minus_01_dot_97_bar__plus_00_dot_39_bar__plus_03_dot_52) + (openable Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_69) + (openable Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_56) + (openable Cabinet_bar__minus_02_dot_62_bar__plus_01_dot_93_bar__plus_03_dot_73) + (openable Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_00_dot_98) + + (atLocation agent1 loc_bar_1_bar_11_bar_0_bar_30) + + (cleanable Potato_bar__minus_02_dot_85_bar__plus_00_dot_87_bar__plus_03_dot_41) + (cleanable Apple_bar__minus_00_dot_52_bar__plus_00_dot_96_bar__plus_01_dot_56) + (cleanable ButterKnife_bar__plus_00_dot_88_bar__plus_00_dot_82_bar__plus_02_dot_63) + (cleanable Tomato_bar__minus_02_dot_46_bar__plus_01_dot_06_bar__plus_02_dot_33) + (cleanable Lettuce_bar__minus_02_dot_64_bar__plus_01_dot_07_bar__plus_02_dot_22) + (cleanable Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_38) + (cleanable Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74) + (cleanable Apple_bar__minus_02_dot_64_bar__plus_01_dot_25_bar__plus_02_dot_17) + (cleanable Bowl_bar__minus_02_dot_12_bar__plus_00_dot_13_bar__plus_03_dot_71) + (cleanable Spatula_bar__plus_00_dot_95_bar__plus_00_dot_84_bar__plus_02_dot_11) + (cleanable Spoon_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_04) + (cleanable Fork_bar__plus_01_dot_02_bar__plus_00_dot_82_bar__plus_00_dot_94) + (cleanable Lettuce_bar__minus_00_dot_58_bar__plus_00_dot_96_bar__plus_01_dot_36) + (cleanable Fork_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_01_dot_14) + (cleanable Bowl_bar__plus_00_dot_74_bar__plus_00_dot_12_bar__plus_02_dot_16) + (cleanable Cup_bar__minus_01_dot_20_bar__plus_01_dot_68_bar__plus_03_dot_98) + (cleanable Egg_bar__minus_01_dot_32_bar__plus_00_dot_94_bar__plus_01_dot_14) + (cleanable Egg_bar__plus_00_dot_96_bar__plus_00_dot_06_bar__plus_02_dot_92) + (cleanable Knife_bar__minus_00_dot_66_bar__plus_00_dot_92_bar__plus_01_dot_04) + (cleanable Lettuce_bar__minus_02_dot_58_bar__plus_00_dot_84_bar__plus_02_dot_33) + (cleanable DishSponge_bar__plus_00_dot_74_bar__plus_00_dot_69_bar__plus_02_dot_20) + (cleanable Mug_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_25) + (cleanable Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_77) + (cleanable Potato_bar__plus_00_dot_65_bar__plus_00_dot_87_bar__plus_01_dot_03) + (cleanable Mug_bar__plus_00_dot_74_bar__plus_00_dot_12_bar__plus_01_dot_06) + (cleanable Cup_bar__minus_00_dot_79_bar__plus_00_dot_90_bar__plus_01_dot_56) + (cleanable Fork_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_01_dot_25) + (cleanable Plate_bar__plus_00_dot_86_bar__plus_00_dot_81_bar__plus_00_dot_98) + + (heatable Bread_bar__minus_01_dot_19_bar__plus_00_dot_95_bar__plus_01_dot_45) + (heatable Potato_bar__minus_02_dot_85_bar__plus_00_dot_87_bar__plus_03_dot_41) + (heatable Apple_bar__minus_00_dot_52_bar__plus_00_dot_96_bar__plus_01_dot_56) + (heatable Tomato_bar__minus_02_dot_46_bar__plus_01_dot_06_bar__plus_02_dot_33) + (heatable Apple_bar__minus_02_dot_64_bar__plus_01_dot_25_bar__plus_02_dot_17) + (heatable Cup_bar__minus_01_dot_20_bar__plus_01_dot_68_bar__plus_03_dot_98) + (heatable Egg_bar__minus_01_dot_32_bar__plus_00_dot_94_bar__plus_01_dot_14) + (heatable Egg_bar__plus_00_dot_96_bar__plus_00_dot_06_bar__plus_02_dot_92) + (heatable Mug_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_25) + (heatable Potato_bar__plus_00_dot_65_bar__plus_00_dot_87_bar__plus_01_dot_03) + (heatable Mug_bar__plus_00_dot_74_bar__plus_00_dot_12_bar__plus_01_dot_06) + (heatable Cup_bar__minus_00_dot_79_bar__plus_00_dot_90_bar__plus_01_dot_56) + (heatable Plate_bar__plus_00_dot_86_bar__plus_00_dot_81_bar__plus_00_dot_98) + (coolable Bread_bar__minus_01_dot_19_bar__plus_00_dot_95_bar__plus_01_dot_45) + (coolable Potato_bar__minus_02_dot_85_bar__plus_00_dot_87_bar__plus_03_dot_41) + (coolable Apple_bar__minus_00_dot_52_bar__plus_00_dot_96_bar__plus_01_dot_56) + (coolable Tomato_bar__minus_02_dot_46_bar__plus_01_dot_06_bar__plus_02_dot_33) + (coolable Lettuce_bar__minus_02_dot_64_bar__plus_01_dot_07_bar__plus_02_dot_22) + (coolable Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_38) + (coolable Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74) + (coolable Apple_bar__minus_02_dot_64_bar__plus_01_dot_25_bar__plus_02_dot_17) + (coolable Bowl_bar__minus_02_dot_12_bar__plus_00_dot_13_bar__plus_03_dot_71) + (coolable Lettuce_bar__minus_00_dot_58_bar__plus_00_dot_96_bar__plus_01_dot_36) + (coolable Bowl_bar__plus_00_dot_74_bar__plus_00_dot_12_bar__plus_02_dot_16) + (coolable Cup_bar__minus_01_dot_20_bar__plus_01_dot_68_bar__plus_03_dot_98) + (coolable Egg_bar__minus_01_dot_32_bar__plus_00_dot_94_bar__plus_01_dot_14) + (coolable Egg_bar__plus_00_dot_96_bar__plus_00_dot_06_bar__plus_02_dot_92) + (coolable Lettuce_bar__minus_02_dot_58_bar__plus_00_dot_84_bar__plus_02_dot_33) + (coolable Mug_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_25) + (coolable Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_77) + (coolable Potato_bar__plus_00_dot_65_bar__plus_00_dot_87_bar__plus_01_dot_03) + (coolable Mug_bar__plus_00_dot_74_bar__plus_00_dot_12_bar__plus_01_dot_06) + (coolable Cup_bar__minus_00_dot_79_bar__plus_00_dot_90_bar__plus_01_dot_56) + (coolable Plate_bar__plus_00_dot_86_bar__plus_00_dot_81_bar__plus_00_dot_98) + + + + + + (sliceable Bread_bar__minus_01_dot_19_bar__plus_00_dot_95_bar__plus_01_dot_45) + (sliceable Potato_bar__minus_02_dot_85_bar__plus_00_dot_87_bar__plus_03_dot_41) + (sliceable Apple_bar__minus_00_dot_52_bar__plus_00_dot_96_bar__plus_01_dot_56) + (sliceable Tomato_bar__minus_02_dot_46_bar__plus_01_dot_06_bar__plus_02_dot_33) + (sliceable Lettuce_bar__minus_02_dot_64_bar__plus_01_dot_07_bar__plus_02_dot_22) + (sliceable Apple_bar__minus_02_dot_64_bar__plus_01_dot_25_bar__plus_02_dot_17) + (sliceable Lettuce_bar__minus_00_dot_58_bar__plus_00_dot_96_bar__plus_01_dot_36) + (sliceable Egg_bar__minus_01_dot_32_bar__plus_00_dot_94_bar__plus_01_dot_14) + (sliceable Egg_bar__plus_00_dot_96_bar__plus_00_dot_06_bar__plus_02_dot_92) + (sliceable Lettuce_bar__minus_02_dot_58_bar__plus_00_dot_84_bar__plus_02_dot_33) + (sliceable Potato_bar__plus_00_dot_65_bar__plus_00_dot_87_bar__plus_01_dot_03) + + (inReceptacle DishSponge_bar__plus_00_dot_74_bar__plus_00_dot_69_bar__plus_02_dot_20 Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_20) + (inReceptacle Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_38 StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_38) + (inReceptacle Fork_bar__plus_01_dot_02_bar__plus_00_dot_82_bar__plus_00_dot_94 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98) + (inReceptacle Potato_bar__plus_00_dot_65_bar__plus_00_dot_87_bar__plus_01_dot_03 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98) + (inReceptacle Plate_bar__plus_00_dot_86_bar__plus_00_dot_81_bar__plus_00_dot_98 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98) + (inReceptacle Mug_bar__plus_00_dot_74_bar__plus_00_dot_12_bar__plus_01_dot_06 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_00_dot_82) + (inReceptacle ButterKnife_bar__plus_00_dot_88_bar__plus_00_dot_82_bar__plus_02_dot_63 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37) + (inReceptacle SaltShaker_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__plus_02_dot_46 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37) + (inReceptacle SoapBottle_bar__plus_00_dot_88_bar__plus_00_dot_82_bar__plus_02_dot_46 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37) + (inReceptacle Spatula_bar__plus_00_dot_95_bar__plus_00_dot_84_bar__plus_02_dot_11 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37) + (inReceptacle SoapBottle_bar__minus_02_dot_82_bar__plus_01_dot_40_bar__plus_03_dot_86 Cabinet_bar__minus_02_dot_95_bar__plus_01_dot_93_bar__plus_03_dot_73) + (inReceptacle Bowl_bar__plus_00_dot_74_bar__plus_00_dot_12_bar__plus_02_dot_16 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_36) + (inReceptacle Fork_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_01_dot_14 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32) + (inReceptacle SaltShaker_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_00_dot_94 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32) + (inReceptacle Bread_bar__minus_01_dot_19_bar__plus_00_dot_95_bar__plus_01_dot_45 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32) + (inReceptacle PaperTowelRoll_bar__minus_00_dot_79_bar__plus_01_dot_00_bar__plus_01_dot_45 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32) + (inReceptacle Egg_bar__minus_01_dot_32_bar__plus_00_dot_94_bar__plus_01_dot_14 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32) + (inReceptacle Knife_bar__minus_00_dot_66_bar__plus_00_dot_92_bar__plus_01_dot_04 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32) + (inReceptacle Cup_bar__minus_00_dot_79_bar__plus_00_dot_90_bar__plus_01_dot_56 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32) + (inReceptacle Apple_bar__minus_00_dot_52_bar__plus_00_dot_96_bar__plus_01_dot_56 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32) + (inReceptacle Spoon_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_04 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32) + (inReceptacle Fork_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_01_dot_25 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32) + (inReceptacle Lettuce_bar__minus_00_dot_58_bar__plus_00_dot_96_bar__plus_01_dot_36 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32) + (inReceptacle Mug_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_25 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32) + (inReceptacle Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_77 StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_77) + (inReceptacle Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80) + (inReceptacle Potato_bar__minus_02_dot_85_bar__plus_00_dot_87_bar__plus_03_dot_41 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80) + (inReceptacle PepperShaker_bar__minus_02_dot_50_bar__plus_01_dot_85_bar__plus_01_dot_85 Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_69) + (inReceptacle Bowl_bar__minus_02_dot_12_bar__plus_00_dot_13_bar__plus_03_dot_71 Cabinet_bar__minus_01_dot_99_bar__plus_00_dot_39_bar__plus_03_dot_51) + (inReceptacle Cup_bar__minus_01_dot_20_bar__plus_01_dot_68_bar__plus_03_dot_98 Cabinet_bar__minus_01_dot_10_bar__plus_01_dot_93_bar__plus_03_dot_73) + (inReceptacle SaltShaker_bar__minus_01_dot_31_bar__plus_01_dot_68_bar__plus_03_dot_82 Cabinet_bar__minus_01_dot_10_bar__plus_01_dot_93_bar__plus_03_dot_73) + (inReceptacle Lettuce_bar__minus_02_dot_64_bar__plus_01_dot_07_bar__plus_02_dot_22 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13) + (inReceptacle Apple_bar__minus_02_dot_64_bar__plus_01_dot_25_bar__plus_02_dot_17 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13) + (inReceptacle Lettuce_bar__minus_02_dot_58_bar__plus_00_dot_84_bar__plus_02_dot_33 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13) + (inReceptacle Tomato_bar__minus_02_dot_46_bar__plus_01_dot_06_bar__plus_02_dot_33 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13) + (inReceptacle Egg_bar__plus_00_dot_96_bar__plus_00_dot_06_bar__plus_02_dot_92 GarbageCan_bar__plus_00_dot_93_bar__plus_00_dot_00_bar__plus_02_dot_92) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_00_dot_82 loc_bar_0_bar_5_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_36 loc_bar__minus_1_bar_11_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_69 loc_bar__minus_1_bar_12_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_67_bar__plus_03_dot_74 loc_bar__minus_3_bar_12_bar_0_bar_60) + (receptacleAtLocation 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loc_bar_2_bar_12_bar_1_bar_60) + (receptacleAtLocation Microwave_bar__minus_01_dot_53_bar__plus_01_dot_25_bar__plus_03_dot_88 loc_bar__minus_6_bar_13_bar_0_bar_30) + (receptacleAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83_bar_SinkBasin loc_bar__minus_6_bar_13_bar_0_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_38 loc_bar_0_bar_6_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_77 loc_bar_0_bar_7_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_38 loc_bar_0_bar_6_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_77 loc_bar_0_bar_7_bar_1_bar_45) + (receptacleAtLocation Toaster_bar__minus_02_dot_25_bar__plus_00_dot_81_bar__plus_03_dot_86 loc_bar__minus_7_bar_12_bar_0_bar_45) + (objectAtLocation Bowl_bar__plus_00_dot_74_bar__plus_00_dot_12_bar__plus_02_dot_16 loc_bar__minus_1_bar_11_bar_1_bar_60) + (objectAtLocation Mug_bar__plus_00_dot_74_bar__plus_00_dot_12_bar__plus_01_dot_06 loc_bar_0_bar_5_bar_1_bar_60) + (objectAtLocation Apple_bar__minus_00_dot_52_bar__plus_00_dot_96_bar__plus_01_dot_56 loc_bar__minus_4_bar_8_bar_2_bar_60) + (objectAtLocation Lettuce_bar__minus_00_dot_58_bar__plus_00_dot_96_bar__plus_01_dot_36 loc_bar__minus_4_bar_8_bar_2_bar_60) + (objectAtLocation SaltShaker_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_00_dot_94 loc_bar__minus_4_bar_8_bar_2_bar_60) + (objectAtLocation Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_77 loc_bar_0_bar_7_bar_1_bar_45) + (objectAtLocation Cup_bar__minus_01_dot_20_bar__plus_01_dot_68_bar__plus_03_dot_98 loc_bar__minus_6_bar_13_bar_0_bar__minus_30) + (objectAtLocation Egg_bar__plus_00_dot_96_bar__plus_00_dot_06_bar__plus_02_dot_92 loc_bar_2_bar_12_bar_1_bar_60) + (objectAtLocation SoapBottle_bar__minus_02_dot_82_bar__plus_01_dot_40_bar__plus_03_dot_86 loc_bar__minus_6_bar_13_bar_3_bar__minus_15) + (objectAtLocation Potato_bar__plus_00_dot_65_bar__plus_00_dot_87_bar__plus_01_dot_03 loc_bar_0_bar_5_bar_1_bar_45) + (objectAtLocation Fork_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_01_dot_25 loc_bar__minus_4_bar_8_bar_2_bar_60) + (objectAtLocation Lettuce_bar__minus_02_dot_58_bar__plus_00_dot_84_bar__plus_02_dot_33 loc_bar__minus_7_bar_9_bar_3_bar_60) + (objectAtLocation SaltShaker_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__plus_02_dot_46 loc_bar_1_bar_10_bar_1_bar_45) + (objectAtLocation Fork_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_01_dot_14 loc_bar__minus_4_bar_8_bar_2_bar_60) + (objectAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83 loc_bar__minus_6_bar_13_bar_0_bar_60) + (objectAtLocation Plate_bar__plus_00_dot_86_bar__plus_00_dot_81_bar__plus_00_dot_98 loc_bar_0_bar_5_bar_1_bar_45) + (objectAtLocation Fork_bar__plus_01_dot_02_bar__plus_00_dot_82_bar__plus_00_dot_94 loc_bar_0_bar_5_bar_1_bar_45) + (objectAtLocation LightSwitch_bar__plus_00_dot_83_bar__plus_01_dot_40_bar__plus_04_dot_08 loc_bar_2_bar_14_bar_0_bar_30) + (objectAtLocation Bread_bar__minus_01_dot_19_bar__plus_00_dot_95_bar__plus_01_dot_45 loc_bar__minus_4_bar_8_bar_2_bar_60) + (objectAtLocation Chair_bar__minus_00_dot_87_bar__plus_00_dot_49_bar__plus_01_dot_50 loc_bar__minus_3_bar_8_bar_2_bar_60) + (objectAtLocation Window_bar__minus_01_dot_13_bar__plus_01_dot_67_bar__plus_00_dot_81 loc_bar__minus_7_bar_6_bar_2_bar_0) + (objectAtLocation Spatula_bar__plus_00_dot_95_bar__plus_00_dot_84_bar__plus_02_dot_11 loc_bar_1_bar_10_bar_1_bar_45) + (objectAtLocation PaperTowelRoll_bar__minus_00_dot_79_bar__plus_01_dot_00_bar__plus_01_dot_45 loc_bar__minus_4_bar_8_bar_2_bar_60) + (objectAtLocation Potato_bar__minus_02_dot_85_bar__plus_00_dot_87_bar__plus_03_dot_41 loc_bar__minus_7_bar_12_bar_0_bar_45) + (objectAtLocation SoapBottle_bar__plus_00_dot_88_bar__plus_00_dot_82_bar__plus_02_dot_46 loc_bar_1_bar_10_bar_1_bar_45) + (objectAtLocation Egg_bar__minus_01_dot_32_bar__plus_00_dot_94_bar__plus_01_dot_14 loc_bar__minus_4_bar_8_bar_2_bar_60) + (objectAtLocation Cup_bar__minus_00_dot_79_bar__plus_00_dot_90_bar__plus_01_dot_56 loc_bar__minus_4_bar_8_bar_2_bar_60) + (objectAtLocation Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_38 loc_bar_0_bar_6_bar_1_bar_45) + (objectAtLocation SaltShaker_bar__minus_01_dot_31_bar__plus_01_dot_68_bar__plus_03_dot_82 loc_bar__minus_6_bar_13_bar_0_bar__minus_30) + (objectAtLocation Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74 loc_bar__minus_7_bar_12_bar_0_bar_45) + (objectAtLocation PepperShaker_bar__minus_02_dot_50_bar__plus_01_dot_85_bar__plus_01_dot_85 loc_bar__minus_7_bar_7_bar_3_bar__minus_30) + (objectAtLocation ButterKnife_bar__plus_00_dot_88_bar__plus_00_dot_82_bar__plus_02_dot_63 loc_bar_1_bar_10_bar_1_bar_45) + (objectAtLocation StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_89 loc_bar_0_bar_8_bar_1_bar_30) + (objectAtLocation StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_73 loc_bar_0_bar_7_bar_1_bar_30) + (objectAtLocation StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_32 loc_bar_0_bar_5_bar_1_bar_30) + (objectAtLocation StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_48 loc_bar_0_bar_6_bar_1_bar_30) + (objectAtLocation Tomato_bar__minus_02_dot_46_bar__plus_01_dot_06_bar__plus_02_dot_33 loc_bar__minus_7_bar_9_bar_3_bar_60) + (objectAtLocation DishSponge_bar__plus_00_dot_74_bar__plus_00_dot_69_bar__plus_02_dot_20 loc_bar__minus_1_bar_10_bar_1_bar_45) + (objectAtLocation Lettuce_bar__minus_02_dot_64_bar__plus_01_dot_07_bar__plus_02_dot_22 loc_bar__minus_7_bar_9_bar_3_bar_60) + (objectAtLocation Spoon_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_04 loc_bar__minus_4_bar_8_bar_2_bar_60) + (objectAtLocation Apple_bar__minus_02_dot_64_bar__plus_01_dot_25_bar__plus_02_dot_17 loc_bar__minus_7_bar_9_bar_3_bar_60) + (objectAtLocation Knife_bar__minus_00_dot_66_bar__plus_00_dot_92_bar__plus_01_dot_04 loc_bar__minus_4_bar_8_bar_2_bar_60) + (objectAtLocation Mug_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_25 loc_bar__minus_4_bar_8_bar_2_bar_60) + (objectAtLocation Bowl_bar__minus_02_dot_12_bar__plus_00_dot_13_bar__plus_03_dot_71 loc_bar__minus_7_bar_12_bar_0_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (sliceable ?o) + (isSliced ?o) + (heatable ?o) + (objectType ?o BreadType) + (receptacleType ?r FridgeType) + (isHot ?o) + (inReceptacle ?o ?r) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Cup-None-Cabinet-18/trial_T20190907_150623_388922/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Cup-None-Cabinet-18/trial_T20190907_150623_388922/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..8233c3775682c66238c4df4cfc5aad1ba5996d14 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Cup-None-Cabinet-18/trial_T20190907_150623_388922/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 cup 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_T20190907_150623_388922)\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_15_bar__plus_00_dot_83_bar__plus_06_dot_67 - object\n Apple_bar__plus_02_dot_01_bar__plus_01_dot_59_bar__plus_06_dot_00 - object\n Apple_bar__plus_02_dot_09_bar__plus_01_dot_59_bar__plus_05_dot_50 - 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_12_bar__plus_00_dot_14_bar__plus_00_dot_43 - object\n Bread_bar__plus_00_dot_06_bar__plus_00_dot_83_bar__plus_06_dot_26 - object\n Bread_bar__minus_00_dot_38_bar__plus_00_dot_83_bar__plus_06_dot_70 - object\n Bread_bar__minus_00_dot_54_bar__plus_01_dot_06_bar__plus_00_dot_40 - object\n ButterKnife_bar__plus_00_dot_85_bar__plus_00_dot_99_bar__plus_00_dot_58 - object\n Chair_bar__plus_00_dot_29_bar__plus_00_dot_02_bar__plus_06_dot_14 - object\n Cup_bar__minus_00_dot_14_bar__plus_00_dot_76_bar__plus_06_dot_24 - object\n Cup_bar__minus_00_dot_76_bar__plus_00_dot_99_bar__plus_00_dot_40 - object\n DishSponge_bar__plus_00_dot_87_bar__plus_00_dot_77_bar__plus_00_dot_56 - object\n DishSponge_bar__plus_01_dot_40_bar__plus_00_dot_77_bar__plus_03_dot_22 - object\n DishSponge_bar__plus_02_dot_06_bar__plus_00_dot_08_bar__plus_06_dot_47 - object\n Egg_bar__plus_00_dot_27_bar__plus_01_dot_15_bar__plus_00_dot_25 - object\n Egg_bar__plus_01_dot_92_bar__plus_01_dot_57_bar__plus_05_dot_75 - object\n Egg_bar__minus_00_dot_16_bar__plus_00_dot_81_bar__plus_06_dot_60 - object\n Faucet_bar__plus_01_dot_54_bar__plus_01_dot_03_bar__plus_02_dot_37 - object\n Fork_bar__minus_00_dot_41_bar__plus_00_dot_77_bar__plus_00_dot_40 - object\n HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_75_bar__plus_06_dot_44 - object\n Kettle_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_03_dot_85 - object\n Kettle_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_03_dot_85 - object\n Kettle_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_04_dot_29 - object\n Knife_bar__plus_01_dot_35_bar__plus_00_dot_80_bar__plus_03_dot_29 - object\n Knife_bar__minus_00_dot_38_bar__plus_01_dot_02_bar__plus_00_dot_67 - object\n Knife_bar__minus_00_dot_62_bar__plus_00_dot_79_bar__plus_06_dot_54 - object\n Lettuce_bar__plus_01_dot_49_bar__plus_01_dot_08_bar__plus_03_dot_32 - 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_97_bar__plus_01_dot_51_bar__plus_05_dot_88 - object\n Pan_bar__plus_01_dot_31_bar__plus_00_dot_99_bar__plus_04_dot_28 - object\n PaperTowelRoll_bar__plus_00_dot_70_bar__plus_01_dot_10_bar__plus_00_dot_40 - object\n PepperShaker_bar__plus_00_dot_26_bar__plus_00_dot_76_bar__plus_06_dot_72 - object\n PepperShaker_bar__plus_01_dot_40_bar__plus_00_dot_14_bar__plus_04_dot_72 - object\n PepperShaker_bar__plus_01_dot_62_bar__plus_02_dot_20_bar__plus_03_dot_79 - object\n Plate_bar__plus_01_dot_24_bar__plus_00_dot_14_bar__plus_03_dot_14 - object\n Plate_bar__plus_01_dot_41_bar__plus_00_dot_14_bar__plus_02_dot_79 - object\n Plate_bar__plus_01_dot_50_bar__plus_01_dot_58_bar__plus_01_dot_23 - object\n Potato_bar__plus_00_dot_31_bar__plus_00_dot_79_bar__plus_06_dot_29 - object\n Potato_bar__plus_00_dot_31_bar__plus_00_dot_79_bar__plus_06_dot_54 - object\n Potato_bar__plus_02_dot_14_bar__plus_01_dot_55_bar__plus_05_dot_38 - object\n Pot_bar__plus_00_dot_73_bar__plus_00_dot_98_bar__plus_00_dot_38 - object\n SaltShaker_bar__plus_00_dot_02_bar__plus_00_dot_76_bar__plus_06_dot_74 - object\n SaltShaker_bar__plus_01_dot_16_bar__plus_00_dot_14_bar__plus_02_dot_57 - object\n SaltShaker_bar__minus_00_dot_48_bar__plus_00_dot_14_bar__plus_00_dot_20 - 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_14_bar__plus_00_dot_99_bar__plus_04_dot_67 - object\n SoapBottle_bar__plus_01_dot_49_bar__plus_02_dot_21_bar__plus_03_dot_89 - object\n SoapBottle_bar__minus_00_dot_38_bar__plus_00_dot_99_bar__plus_00_dot_40 - object\n Spatula_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_02_dot_24 - object\n Spatula_bar__minus_00_dot_48_bar__plus_00_dot_79_bar__plus_00_dot_56 - object\n Spoon_bar__plus_01_dot_23_bar__plus_00_dot_99_bar__plus_00_dot_67 - object\n Spoon_bar__plus_01_dot_40_bar__plus_00_dot_99_bar__plus_03_dot_51 - 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_44_bar__plus_00_dot_94_bar__plus_02_dot_03 - 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_4_bar_2_bar_45 - 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_4_bar_24_bar_1_bar_15 - 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_3_bar_16_bar_1_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 Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__plus_01_dot_27_bar__plus_02_dot_13_bar__plus_00_dot_43 CabinetType)\n (receptacleType StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_04_dot_29 StoveBurnerType)\n (receptacleType StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_03_dot_85 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_17_bar__plus_00_dot_42_bar__plus_00_dot_74 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_01_dot_71 CabinetType)\n (receptacleType GarbageCan_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_06_dot_50 GarbageCanType)\n (receptacleType Drawer_bar__plus_00_dot_74_bar__plus_00_dot_80_bar__plus_00_dot_52 DrawerType)\n (receptacleType Safe_bar__plus_02_dot_05_bar__minus_00_dot_01_bar__plus_07_dot_06 SafeType)\n (receptacleType StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_04_dot_29 StoveBurnerType)\n (receptacleType 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(inReceptacle SaltShaker_bar__plus_01_dot_16_bar__plus_00_dot_14_bar__plus_02_dot_57 Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_94)\n (inReceptacle Egg_bar__plus_00_dot_27_bar__plus_01_dot_15_bar__plus_00_dot_25 Microwave_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_26)\n (inReceptacle Mug_bar__plus_01_dot_38_bar__plus_01_dot_04_bar__plus_00_dot_85 CoffeeMachine_bar__plus_01_dot_55_bar__plus_00_dot_98_bar__plus_00_dot_95)\n (inReceptacle Egg_bar__plus_01_dot_92_bar__plus_01_dot_57_bar__plus_05_dot_75 Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63)\n (inReceptacle Apple_bar__plus_02_dot_09_bar__plus_01_dot_59_bar__plus_05_dot_50 Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63)\n (inReceptacle Potato_bar__plus_02_dot_14_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)\n (inReceptacle Apple_bar__plus_02_dot_01_bar__plus_01_dot_59_bar__plus_06_dot_00 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Knife_bar__minus_00_dot_38_bar__plus_01_dot_02_bar__plus_00_dot_67 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_41_bar__plus_00_dot_77_bar__plus_00_dot_40 loc_bar__minus_5_bar_5_bar_1_bar_45)\n (objectAtLocation Apple_bar__plus_02_dot_01_bar__plus_01_dot_59_bar__plus_06_dot_00 loc_bar_4_bar_22_bar_1_bar_60)\n (objectAtLocation Kettle_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 Plate_bar__plus_01_dot_24_bar__plus_00_dot_14_bar__plus_03_dot_14 loc_bar_1_bar_14_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__plus_01_dot_16_bar__plus_00_dot_14_bar__plus_02_dot_57 loc_bar_1_bar_10_bar_1_bar_60)\n (objectAtLocation Lettuce_bar__plus_01_dot_49_bar__plus_01_dot_08_bar__plus_03_dot_32 loc_bar_3_bar_4_bar_1_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_01_dot_14_bar__plus_00_dot_99_bar__plus_04_dot_67 loc_bar_3_bar_19_bar_1_bar_45)\n (objectAtLocation Spatula_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_02_dot_24 loc_bar_3_bar_9_bar_1_bar_45)\n (objectAtLocation PaperTowelRoll_bar__plus_00_dot_70_bar__plus_01_dot_10_bar__plus_00_dot_40 loc_bar_3_bar_4_bar_2_bar_45)\n (objectAtLocation Pot_bar__plus_00_dot_73_bar__plus_00_dot_98_bar__plus_00_dot_38 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Potato_bar__plus_00_dot_31_bar__plus_00_dot_79_bar__plus_06_dot_54 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation ButterKnife_bar__plus_00_dot_85_bar__plus_00_dot_99_bar__plus_00_dot_58 loc_bar_3_bar_4_bar_1_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_00_dot_26_bar__plus_00_dot_76_bar__plus_06_dot_72 loc_bar_3_bar_26_bar_3_bar_45)\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_44_bar__plus_00_dot_94_bar__plus_02_dot_03 loc_bar_3_bar_9_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__plus_00_dot_87_bar__plus_00_dot_77_bar__plus_00_dot_56 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation Cup_bar__minus_00_dot_14_bar__plus_00_dot_76_bar__plus_06_dot_24 loc_bar_3_bar_26_bar_3_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__plus_01_dot_23_bar__plus_00_dot_99_bar__plus_00_dot_67 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Mug_bar__plus_01_dot_97_bar__plus_01_dot_51_bar__plus_05_dot_88 loc_bar_4_bar_24_bar_1_bar_15)\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 (heatable ?o)\n (objectType ?o CupType)\n (receptacleType ?r CabinetType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 1", "take cup 2 from diningtable 1", "go to microwave 1", "heat cup 2 with microwave 1", "go to cabinet 6", "move cup 2 to cabinet 6"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Cup-None-Cabinet-18/trial_T20190907_150623_388922/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Cup-None-Cabinet-18/trial_T20190907_150623_388922/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..1679ce44056bf576e471e4bba847c343456e764c --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Cup-None-Cabinet-18/trial_T20190907_150623_388922/initial_state.pddl @@ -0,0 +1,1132 @@ + +(define (problem plan_trial_T20190907_150623_388922) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_15_bar__plus_00_dot_83_bar__plus_06_dot_67 - object + Apple_bar__plus_02_dot_01_bar__plus_01_dot_59_bar__plus_06_dot_00 - object + Apple_bar__plus_02_dot_09_bar__plus_01_dot_59_bar__plus_05_dot_50 - object + Blinds_bar__plus_01_dot_74_bar__plus_02_dot_56_bar__plus_02_dot_31 - object + Bowl_bar__plus_00_dot_12_bar__plus_00_dot_14_bar__plus_00_dot_43 - object + Bread_bar__plus_00_dot_06_bar__plus_00_dot_83_bar__plus_06_dot_26 - object + Bread_bar__minus_00_dot_38_bar__plus_00_dot_83_bar__plus_06_dot_70 - object + Bread_bar__minus_00_dot_54_bar__plus_01_dot_06_bar__plus_00_dot_40 - object + ButterKnife_bar__plus_00_dot_85_bar__plus_00_dot_99_bar__plus_00_dot_58 - object + Chair_bar__plus_00_dot_29_bar__plus_00_dot_02_bar__plus_06_dot_14 - object + Cup_bar__minus_00_dot_14_bar__plus_00_dot_76_bar__plus_06_dot_24 - object + Cup_bar__minus_00_dot_76_bar__plus_00_dot_99_bar__plus_00_dot_40 - object + DishSponge_bar__plus_00_dot_87_bar__plus_00_dot_77_bar__plus_00_dot_56 - object + DishSponge_bar__plus_01_dot_40_bar__plus_00_dot_77_bar__plus_03_dot_22 - object + DishSponge_bar__plus_02_dot_06_bar__plus_00_dot_08_bar__plus_06_dot_47 - object + Egg_bar__plus_00_dot_27_bar__plus_01_dot_15_bar__plus_00_dot_25 - object + Egg_bar__plus_01_dot_92_bar__plus_01_dot_57_bar__plus_05_dot_75 - object + Egg_bar__minus_00_dot_16_bar__plus_00_dot_81_bar__plus_06_dot_60 - object + Faucet_bar__plus_01_dot_54_bar__plus_01_dot_03_bar__plus_02_dot_37 - object + Fork_bar__minus_00_dot_41_bar__plus_00_dot_77_bar__plus_00_dot_40 - object + HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_75_bar__plus_06_dot_44 - object + Kettle_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_03_dot_85 - object + Kettle_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_03_dot_85 - object + Kettle_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_04_dot_29 - object + Knife_bar__plus_01_dot_35_bar__plus_00_dot_80_bar__plus_03_dot_29 - object + Knife_bar__minus_00_dot_38_bar__plus_01_dot_02_bar__plus_00_dot_67 - object + Knife_bar__minus_00_dot_62_bar__plus_00_dot_79_bar__plus_06_dot_54 - object + Lettuce_bar__plus_01_dot_49_bar__plus_01_dot_08_bar__plus_03_dot_32 - 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_97_bar__plus_01_dot_51_bar__plus_05_dot_88 - object + Pan_bar__plus_01_dot_31_bar__plus_00_dot_99_bar__plus_04_dot_28 - object + PaperTowelRoll_bar__plus_00_dot_70_bar__plus_01_dot_10_bar__plus_00_dot_40 - object + PepperShaker_bar__plus_00_dot_26_bar__plus_00_dot_76_bar__plus_06_dot_72 - object + PepperShaker_bar__plus_01_dot_40_bar__plus_00_dot_14_bar__plus_04_dot_72 - object + PepperShaker_bar__plus_01_dot_62_bar__plus_02_dot_20_bar__plus_03_dot_79 - object + Plate_bar__plus_01_dot_24_bar__plus_00_dot_14_bar__plus_03_dot_14 - object + Plate_bar__plus_01_dot_41_bar__plus_00_dot_14_bar__plus_02_dot_79 - object + Plate_bar__plus_01_dot_50_bar__plus_01_dot_58_bar__plus_01_dot_23 - object + Potato_bar__plus_00_dot_31_bar__plus_00_dot_79_bar__plus_06_dot_29 - object + Potato_bar__plus_00_dot_31_bar__plus_00_dot_79_bar__plus_06_dot_54 - object + Potato_bar__plus_02_dot_14_bar__plus_01_dot_55_bar__plus_05_dot_38 - object + Pot_bar__plus_00_dot_73_bar__plus_00_dot_98_bar__plus_00_dot_38 - object + SaltShaker_bar__plus_00_dot_02_bar__plus_00_dot_76_bar__plus_06_dot_74 - object + SaltShaker_bar__plus_01_dot_16_bar__plus_00_dot_14_bar__plus_02_dot_57 - object + SaltShaker_bar__minus_00_dot_48_bar__plus_00_dot_14_bar__plus_00_dot_20 - object + Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33 - object + SoapBottle_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_04_dot_67 - object + SoapBottle_bar__plus_01_dot_49_bar__plus_02_dot_21_bar__plus_03_dot_89 - object + SoapBottle_bar__minus_00_dot_38_bar__plus_00_dot_99_bar__plus_00_dot_40 - object + Spatula_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_02_dot_24 - object + Spatula_bar__minus_00_dot_48_bar__plus_00_dot_79_bar__plus_00_dot_56 - object + Spoon_bar__plus_01_dot_23_bar__plus_00_dot_99_bar__plus_00_dot_67 - object + Spoon_bar__plus_01_dot_40_bar__plus_00_dot_99_bar__plus_03_dot_51 - 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_44_bar__plus_00_dot_94_bar__plus_02_dot_03 - 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_4_bar_2_bar_45 - 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_4_bar_24_bar_1_bar_15 - 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_3_bar_16_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 GarbageCanType) + (receptacleType Drawer_bar__plus_00_dot_74_bar__plus_00_dot_80_bar__plus_00_dot_52 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", + "Pick up the white cup on the counter. ", + "Walk to the microwave to the left. ", + "Put the cup in the microwave, heat it for a few seconds, take the cup back out of the microwave. ", + "Turn around, take a step, turn back around. ", + "Put the cup in the last cabinet under the counter." + ], + "task_desc": "Put the hot cup in the cabinet. ", + "votes": [ + 1, + 0, + 1, + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A23HZ18KTCK2DA_3XCC1ODXDOS17QHAZGJHITPU0SGQRL", + "high_descs": [ + "Turn and go to the kitchen counter that is closest to the bag of trash on the floor.", + "Pick up the cup that is near the edge of the counter.", + "Turn and with the cup in hand go to the microwave.", + "Open the microwave door. Place the cup on the microwave to the right of the egg. Close the microwave door and turn the microwave on. Open the door when finished and grab the cup. Shut the microwave door.", + "Turn to go to the cabinet that is below the microwave and the farthest to the right.", + "Open the cabinet door. Place the cup in the cabinet in the center of the shelf. Shut the cabinet door." + ], + "task_desc": "Warm up a cup to put it away.", + "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-Cup-None-Cabinet-18/trial_T20190907_150654_710990/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Cup-None-Cabinet-18/trial_T20190907_150654_710990/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..19ef8d752973723d83b514d62ab0122b4fdd72b2 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Cup-None-Cabinet-18/trial_T20190907_150654_710990/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 cup and put it 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_T20190907_150654_710990)\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_03_bar__plus_00_dot_83_bar__plus_06_dot_63 - object\n Apple_bar__minus_00_dot_62_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_49_bar__plus_00_dot_14_bar__plus_02_dot_79 - object\n Bread_bar__plus_01_dot_49_bar__plus_01_dot_06_bar__plus_00_dot_44 - object\n ButterKnife_bar__minus_00_dot_10_bar__plus_00_dot_76_bar__plus_06_dot_17 - object\n ButterKnife_bar__minus_00_dot_41_bar__plus_00_dot_77_bar__plus_00_dot_56 - 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_44_bar__plus_00_dot_89_bar__plus_02_dot_53 - object\n Cup_bar__plus_01_dot_58_bar__plus_02_dot_20_bar__plus_03_dot_79 - object\n DishSponge_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_03_dot_04 - object\n DishSponge_bar__plus_01_dot_29_bar__plus_00_dot_77_bar__plus_03_dot_43 - object\n DishSponge_bar__plus_01_dot_59_bar__plus_01_dot_58_bar__plus_04_dot_63 - object\n Egg_bar__plus_00_dot_31_bar__plus_00_dot_81_bar__plus_06_dot_42 - object\n Egg_bar__minus_00_dot_16_bar__plus_00_dot_81_bar__plus_06_dot_29 - object\n Egg_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__plus_06_dot_76 - object\n Faucet_bar__plus_01_dot_54_bar__plus_01_dot_03_bar__plus_02_dot_37 - object\n Fork_bar__minus_00_dot_10_bar__plus_00_dot_76_bar__plus_06_dot_94 - object\n HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_75_bar__plus_06_dot_44 - object\n Kettle_bar__minus_00_dot_38_bar__plus_00_dot_76_bar__plus_06_dot_26 - object\n Knife_bar__plus_00_dot_74_bar__plus_00_dot_80_bar__plus_00_dot_51 - object\n Knife_bar__plus_01_dot_31_bar__plus_01_dot_02_bar__plus_03_dot_23 - object\n Knife_bar__minus_00_dot_61_bar__plus_01_dot_02_bar__plus_00_dot_58 - object\n Lettuce_bar__minus_00_dot_03_bar__plus_00_dot_85_bar__plus_06_dot_79 - object\n Lettuce_bar__minus_00_dot_40_bar__plus_00_dot_85_bar__plus_06_dot_90 - 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_31_bar__plus_00_dot_76_bar__plus_06_dot_67 - object\n Mug_bar__plus_01_dot_20_bar__plus_01_dot_57_bar__plus_00_dot_25 - object\n Mug_bar__minus_00_dot_38_bar__plus_00_dot_76_bar__plus_06_dot_70 - object\n Pan_bar__plus_00_dot_70_bar__plus_00_dot_99_bar__plus_00_dot_49 - object\n PaperTowelRoll_bar__plus_00_dot_26_bar__plus_00_dot_86_bar__plus_06_dot_24 - object\n PepperShaker_bar__plus_00_dot_05_bar__plus_01_dot_57_bar__plus_00_dot_16 - object\n PepperShaker_bar__plus_00_dot_60_bar__plus_00_dot_14_bar__plus_00_dot_66 - object\n PepperShaker_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_04_dot_62 - object\n Plate_bar__plus_00_dot_67_bar__plus_00_dot_14_bar__plus_00_dot_42 - object\n Plate_bar__plus_01_dot_49_bar__plus_00_dot_14_bar__plus_03_dot_29 - object\n Potato_bar__plus_02_dot_09_bar__plus_01_dot_55_bar__plus_05_dot_63 - 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_03_dot_85 - object\n SaltShaker_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_04_dot_85 - 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_92_bar__plus_00_dot_99_bar__plus_00_dot_67 - object\n SoapBottle_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_04_dot_76 - object\n SoapBottle_bar__plus_01_dot_16_bar__plus_00_dot_14_bar__plus_03_dot_37 - object\n Spatula_bar__plus_01_dot_50_bar__plus_00_dot_91_bar__plus_02_dot_63 - object\n Spoon_bar__minus_00_dot_47_bar__plus_00_dot_76_bar__plus_06_dot_54 - object\n Spoon_bar__minus_00_dot_62_bar__plus_00_dot_77_bar__plus_00_dot_45 - 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__minus_00_dot_31_bar__plus_01_dot_04_bar__plus_00_dot_12 - 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_6_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 Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__plus_01_dot_27_bar__plus_02_dot_13_bar__plus_00_dot_43 CabinetType)\n (receptacleType StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_04_dot_29 StoveBurnerType)\n (receptacleType StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_03_dot_85 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_17_bar__plus_00_dot_42_bar__plus_00_dot_74 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_01_dot_71 CabinetType)\n (receptacleType GarbageCan_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_06_dot_50 GarbageCanType)\n (receptacleType Drawer_bar__plus_00_dot_74_bar__plus_00_dot_80_bar__plus_00_dot_52 DrawerType)\n (receptacleType Safe_bar__plus_02_dot_05_bar__minus_00_dot_01_bar__plus_07_dot_06 SafeType)\n (receptacleType StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_04_dot_29 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_00_dot_44_bar__plus_00_dot_42_bar__plus_00_dot_74 CabinetType)\n (receptacleType DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47 DiningTableType)\n (receptacleType Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_04_dot_55 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_04_dot_89 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_48_bar__plus_00_dot_80_bar__plus_00_dot_52 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SoapBottle_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 PepperShaker_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_04_dot_62 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72)\n (inReceptacle SaltShaker_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_04_dot_85 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72)\n (inReceptacle DishSponge_bar__plus_01_dot_59_bar__plus_01_dot_58_bar__plus_04_dot_63 Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_04_dot_89)\n (inReceptacle Plate_bar__plus_00_dot_67_bar__plus_00_dot_14_bar__plus_00_dot_42 Cabinet_bar__plus_00_dot_44_bar__plus_00_dot_42_bar__plus_00_dot_74)\n (inReceptacle PepperShaker_bar__plus_00_dot_60_bar__plus_00_dot_14_bar__plus_00_dot_66 Cabinet_bar__plus_00_dot_44_bar__plus_00_dot_42_bar__plus_00_dot_74)\n (inReceptacle 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Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin)\n (inReceptacle Cup_bar__plus_01_dot_44_bar__plus_00_dot_89_bar__plus_02_dot_53 Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin)\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 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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_00_dot_05_bar__plus_01_dot_57_bar__plus_00_dot_16 loc_bar_0_bar_4_bar_2_bar__minus_30)\n (objectAtLocation Pan_bar__plus_00_dot_70_bar__plus_00_dot_99_bar__plus_00_dot_49 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_31_bar__plus_01_dot_04_bar__plus_00_dot_12 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_03_dot_04 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Cup_bar__plus_01_dot_58_bar__plus_02_dot_20_bar__plus_03_dot_79 loc_bar_3_bar_14_bar_1_bar__minus_30)\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_62_bar__plus_00_dot_77_bar__plus_00_dot_45 loc_bar__minus_5_bar_5_bar_1_bar_45)\n (objectAtLocation Mug_bar__plus_00_dot_31_bar__plus_00_dot_76_bar__plus_06_dot_67 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 (heatable ?o)\n (objectType ?o CupType)\n (receptacleType ?r CabinetType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to cabinet 6", "take cup 1 from cabinet 6", "go to microwave 1", "heat cup 1 with microwave 1", "go to cabinet 6", "move cup 1 to cabinet 6"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Cup-None-Cabinet-18/trial_T20190907_150654_710990/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Cup-None-Cabinet-18/trial_T20190907_150654_710990/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..3f1f09a8ac89af4dcc9e4bbeb194da19e0c35b3c --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Cup-None-Cabinet-18/trial_T20190907_150654_710990/initial_state.pddl @@ -0,0 +1,1088 @@ + +(define (problem plan_trial_T20190907_150654_710990) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_03_bar__plus_00_dot_83_bar__plus_06_dot_63 - object + Apple_bar__minus_00_dot_62_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_49_bar__plus_00_dot_14_bar__plus_02_dot_79 - object + Bread_bar__plus_01_dot_49_bar__plus_01_dot_06_bar__plus_00_dot_44 - object + ButterKnife_bar__minus_00_dot_10_bar__plus_00_dot_76_bar__plus_06_dot_17 - object + ButterKnife_bar__minus_00_dot_41_bar__plus_00_dot_77_bar__plus_00_dot_56 - object + Chair_bar__plus_00_dot_29_bar__plus_00_dot_02_bar__plus_06_dot_14 - object + Cup_bar__plus_01_dot_44_bar__plus_00_dot_89_bar__plus_02_dot_53 - object + Cup_bar__plus_01_dot_58_bar__plus_02_dot_20_bar__plus_03_dot_79 - object + DishSponge_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_03_dot_04 - object + DishSponge_bar__plus_01_dot_29_bar__plus_00_dot_77_bar__plus_03_dot_43 - object + DishSponge_bar__plus_01_dot_59_bar__plus_01_dot_58_bar__plus_04_dot_63 - object + Egg_bar__plus_00_dot_31_bar__plus_00_dot_81_bar__plus_06_dot_42 - object + Egg_bar__minus_00_dot_16_bar__plus_00_dot_81_bar__plus_06_dot_29 - object + Egg_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__plus_06_dot_76 - object + Faucet_bar__plus_01_dot_54_bar__plus_01_dot_03_bar__plus_02_dot_37 - object + Fork_bar__minus_00_dot_10_bar__plus_00_dot_76_bar__plus_06_dot_94 - object + HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_75_bar__plus_06_dot_44 - object + Kettle_bar__minus_00_dot_38_bar__plus_00_dot_76_bar__plus_06_dot_26 - object + Knife_bar__plus_00_dot_74_bar__plus_00_dot_80_bar__plus_00_dot_51 - object + Knife_bar__plus_01_dot_31_bar__plus_01_dot_02_bar__plus_03_dot_23 - object + Knife_bar__minus_00_dot_61_bar__plus_01_dot_02_bar__plus_00_dot_58 - object + Lettuce_bar__minus_00_dot_03_bar__plus_00_dot_85_bar__plus_06_dot_79 - object + Lettuce_bar__minus_00_dot_40_bar__plus_00_dot_85_bar__plus_06_dot_90 - object + LightSwitch_bar__minus_02_dot_00_bar__plus_01_dot_55_bar__plus_06_dot_05 - object + Mug_bar__plus_00_dot_31_bar__plus_00_dot_76_bar__plus_06_dot_67 - object + Mug_bar__plus_01_dot_20_bar__plus_01_dot_57_bar__plus_00_dot_25 - object + Mug_bar__minus_00_dot_38_bar__plus_00_dot_76_bar__plus_06_dot_70 - object + Pan_bar__plus_00_dot_70_bar__plus_00_dot_99_bar__plus_00_dot_49 - object + PaperTowelRoll_bar__plus_00_dot_26_bar__plus_00_dot_86_bar__plus_06_dot_24 - object + PepperShaker_bar__plus_00_dot_05_bar__plus_01_dot_57_bar__plus_00_dot_16 - object + PepperShaker_bar__plus_00_dot_60_bar__plus_00_dot_14_bar__plus_00_dot_66 - object + PepperShaker_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_04_dot_62 - object + Plate_bar__plus_00_dot_67_bar__plus_00_dot_14_bar__plus_00_dot_42 - object + Plate_bar__plus_01_dot_49_bar__plus_00_dot_14_bar__plus_03_dot_29 - object + Potato_bar__plus_02_dot_09_bar__plus_01_dot_55_bar__plus_05_dot_63 - 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_03_dot_85 - object + SaltShaker_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_04_dot_85 - object + Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33 - object + SoapBottle_bar__plus_00_dot_92_bar__plus_00_dot_99_bar__plus_00_dot_67 - object + SoapBottle_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_04_dot_76 - object + SoapBottle_bar__plus_01_dot_16_bar__plus_00_dot_14_bar__plus_03_dot_37 - object + Spatula_bar__plus_01_dot_50_bar__plus_00_dot_91_bar__plus_02_dot_63 - object + Spoon_bar__minus_00_dot_47_bar__plus_00_dot_76_bar__plus_06_dot_54 - object + Spoon_bar__minus_00_dot_62_bar__plus_00_dot_77_bar__plus_00_dot_45 - 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__minus_00_dot_31_bar__plus_01_dot_04_bar__plus_00_dot_12 - 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_6_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 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Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_99) + (inReceptacle SoapBottle_bar__plus_01_dot_16_bar__plus_00_dot_14_bar__plus_03_dot_37 Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_99) + (inReceptacle Bowl_bar__plus_01_dot_49_bar__plus_00_dot_14_bar__plus_02_dot_79 Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_94) + (inReceptacle PepperShaker_bar__plus_00_dot_05_bar__plus_01_dot_57_bar__plus_00_dot_16 Cabinet_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_00_dot_43) + (inReceptacle Potato_bar__plus_02_dot_09_bar__plus_01_dot_55_bar__plus_05_dot_63 Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63) + (inReceptacle Spatula_bar__plus_01_dot_50_bar__plus_00_dot_91_bar__plus_02_dot_63 Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin) + (inReceptacle Cup_bar__plus_01_dot_44_bar__plus_00_dot_89_bar__plus_02_dot_53 Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin) + + + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (receptacleAtLocation 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loc_bar_0_bar_4_bar_2_bar__minus_30) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (objectAtLocation Mug_bar__minus_00_dot_38_bar__plus_00_dot_76_bar__plus_06_dot_70 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Spoon_bar__minus_00_dot_47_bar__plus_00_dot_76_bar__plus_06_dot_54 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Cup_bar__plus_01_dot_44_bar__plus_00_dot_89_bar__plus_02_dot_53 loc_bar_3_bar_9_bar_1_bar_45) + (objectAtLocation DishSponge_bar__plus_01_dot_29_bar__plus_00_dot_77_bar__plus_03_dot_43 loc_bar_1_bar_13_bar_1_bar_45) + (objectAtLocation PepperShaker_bar__plus_00_dot_60_bar__plus_00_dot_14_bar__plus_00_dot_66 loc_bar_1_bar_7_bar_2_bar_45) + (objectAtLocation ButterKnife_bar__minus_00_dot_41_bar__plus_00_dot_77_bar__plus_00_dot_56 loc_bar__minus_5_bar_5_bar_1_bar_45) + (objectAtLocation Pot_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_03_dot_85 loc_bar_3_bar_15_bar_1_bar_45) + (objectAtLocation SoapBottle_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_04_dot_76 loc_bar_3_bar_19_bar_1_bar_45) + (objectAtLocation Lettuce_bar__minus_00_dot_03_bar__plus_00_dot_85_bar__plus_06_dot_79 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Plate_bar__plus_01_dot_49_bar__plus_00_dot_14_bar__plus_03_dot_29 loc_bar_1_bar_14_bar_1_bar_60) + (objectAtLocation Apple_bar__minus_00_dot_03_bar__plus_00_dot_83_bar__plus_06_dot_63 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Knife_bar__minus_00_dot_61_bar__plus_01_dot_02_bar__plus_00_dot_58 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation Egg_bar__plus_00_dot_31_bar__plus_00_dot_81_bar__plus_06_dot_42 loc_bar_3_bar_26_bar_3_bar_45) + (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) + (objectAtLocation Mug_bar__plus_01_dot_20_bar__plus_01_dot_57_bar__plus_00_dot_25 loc_bar_3_bar_4_bar_2_bar__minus_30) + (objectAtLocation PepperShaker_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_04_dot_62 loc_bar_3_bar_19_bar_1_bar_45) + (objectAtLocation SoapBottle_bar__plus_01_dot_16_bar__plus_00_dot_14_bar__plus_03_dot_37 loc_bar_1_bar_14_bar_1_bar_60) + (objectAtLocation Knife_bar__plus_01_dot_31_bar__plus_01_dot_02_bar__plus_03_dot_23 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation Egg_bar__minus_00_dot_16_bar__plus_00_dot_81_bar__plus_06_dot_29 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation DishSponge_bar__plus_01_dot_59_bar__plus_01_dot_58_bar__plus_04_dot_63 loc_bar_3_bar_18_bar_1_bar__minus_30) + (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) + (objectAtLocation Bowl_bar__plus_01_dot_49_bar__plus_00_dot_14_bar__plus_02_dot_79 loc_bar_1_bar_10_bar_1_bar_60) + (objectAtLocation Bread_bar__plus_01_dot_49_bar__plus_01_dot_06_bar__plus_00_dot_44 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation Egg_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__plus_06_dot_76 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Knife_bar__plus_00_dot_74_bar__plus_00_dot_80_bar__plus_00_dot_51 loc_bar_0_bar_5_bar_1_bar_45) + (objectAtLocation Fork_bar__minus_00_dot_10_bar__plus_00_dot_76_bar__plus_06_dot_94 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Apple_bar__minus_00_dot_62_bar__plus_00_dot_83_bar__plus_06_dot_67 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Kettle_bar__minus_00_dot_38_bar__plus_00_dot_76_bar__plus_06_dot_26 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Plate_bar__plus_00_dot_67_bar__plus_00_dot_14_bar__plus_00_dot_42 loc_bar_1_bar_7_bar_2_bar_45) + (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) + (objectAtLocation SaltShaker_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_04_dot_85 loc_bar_3_bar_19_bar_1_bar_45) + (objectAtLocation Lettuce_bar__minus_00_dot_40_bar__plus_00_dot_85_bar__plus_06_dot_90 loc_bar_3_bar_26_bar_3_bar_45) + (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) + (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) + (objectAtLocation SoapBottle_bar__plus_00_dot_92_bar__plus_00_dot_99_bar__plus_00_dot_67 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation Spatula_bar__plus_01_dot_50_bar__plus_00_dot_91_bar__plus_02_dot_63 loc_bar_3_bar_9_bar_1_bar_45) + (objectAtLocation PaperTowelRoll_bar__plus_00_dot_26_bar__plus_00_dot_86_bar__plus_06_dot_24 loc_bar_3_bar_26_bar_3_bar_45) + (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) + (objectAtLocation Potato_bar__plus_02_dot_09_bar__plus_01_dot_55_bar__plus_05_dot_63 loc_bar_4_bar_22_bar_1_bar_60) + (objectAtLocation ButterKnife_bar__minus_00_dot_10_bar__plus_00_dot_76_bar__plus_06_dot_17 loc_bar_3_bar_26_bar_3_bar_45) + (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) + (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) + (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) + (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) + (objectAtLocation PepperShaker_bar__plus_00_dot_05_bar__plus_01_dot_57_bar__plus_00_dot_16 loc_bar_0_bar_4_bar_2_bar__minus_30) + (objectAtLocation Pan_bar__plus_00_dot_70_bar__plus_00_dot_99_bar__plus_00_dot_49 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation Tomato_bar__minus_00_dot_31_bar__plus_01_dot_04_bar__plus_00_dot_12 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation DishSponge_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_03_dot_04 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation Cup_bar__plus_01_dot_58_bar__plus_02_dot_20_bar__plus_03_dot_79 loc_bar_3_bar_14_bar_1_bar__minus_30) + (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) + (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) + (objectAtLocation Spoon_bar__minus_00_dot_62_bar__plus_00_dot_77_bar__plus_00_dot_45 loc_bar__minus_5_bar_5_bar_1_bar_45) + (objectAtLocation Mug_bar__plus_00_dot_31_bar__plus_00_dot_76_bar__plus_06_dot_67 loc_bar_3_bar_26_bar_3_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 + (heatable ?o) + (objectType ?o CupType) + (receptacleType ?r CabinetType) + (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-Cup-None-Cabinet-18/trial_T20190907_150654_710990/traj_data.json b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Cup-None-Cabinet-18/trial_T20190907_150654_710990/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..c291e847c2d31a61ecef240feb675920a138d106 --- /dev/null +++ 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89.99999, + "z": 1.40334183e-14 + } + }, + { + "objectName": "Spoon_cefc2847", + "position": { + "x": -0.467251956, + "y": 0.7612178, + "z": 6.541539 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_6d84c70f", + "position": { + "x": -0.378325045, + "y": 0.7550884, + "z": 6.698186 + }, + "rotation": { + "x": 0.0, + "y": 134.999985, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2868589554, + "scene_num": 18 + }, + "task_id": "trial_T20190907_150654_710990", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AJQGWGESKQT4Y_3F6KKYWMNEIM3JLD1NWG9ADLGBJDNM", + "high_descs": [ + "Turn around and stand in front of the sink.", + "Pick the glass up out of the sink.", + "Go to the right and stand in front of the microwave.", + "Put the glass in the microwave and shut the door and then open the door and get the glass out and shut the door again.", + "Move to the right and face the lower cabinets to the right of the microwave.", + "Open the furthest bottom, right cabinet and put the glass in and shut the door." + ], + "task_desc": "Put a warmed glass in the cabinet.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "ACSS93E03ZUGX_3NLZY2D53S6Q4SMXUWMLWHGVUVNQLH", + "high_descs": [ + "Turn around and face the sink.", + "Pick the cup up from the sink.", + "Turn around and go to the left to face the microwave.", + "Open the microwave, place the cup in to the microwave, wait a few minutes, open the microwave, pick up the cup, and close the microwave.", + "Move lower and open the cabinet below the microwave.", + "Place the cup into the cabinet." + ], + "task_desc": "Place the microwaved liquid in the cup in the cabinet.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AWEPZMK7825JQ_3YJ6NA41JEXZ9QXIRYVJGXDTLAWJPH", + "high_descs": [ + "Turn right, turn right again and walk to the sink.", + "Pick up the cup that is inside the sink. ", + "Turn around and then turn left and walk toward the microwave.", + "Heat the cup in the microwave for seven seconds.", + "Turn around and take a step back, then turn back around. ", + "Place the cup inside of the cupboard at the bottom right. " + ], + "task_desc": "Place a microwaved cup in the cupboard.", + "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-Cup-None-Cabinet-18/trial_T20190907_150724_149124/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Cup-None-Cabinet-18/trial_T20190907_150724_149124/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..57a7cc37c3eacdf86395cab191e7727ad8010019 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Cup-None-Cabinet-18/trial_T20190907_150724_149124/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 cup and put it 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_T20190907_150724_149124)\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_72 - object\n Apple_bar__plus_01_dot_96_bar__plus_00_dot_16_bar__plus_06_dot_47 - object\n Apple_bar__minus_00_dot_47_bar__plus_00_dot_83_bar__plus_06_dot_60 - object\n 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(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 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CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90)\n (inReceptacle PaperTowelRoll_bar__plus_00_dot_54_bar__plus_01_dot_10_bar__plus_00_dot_30 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90)\n (inReceptacle Lettuce_bar__plus_01_dot_49_bar__plus_01_dot_08_bar__plus_00_dot_21 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90)\n (inReceptacle Apple_bar__plus_01_dot_14_bar__plus_01_dot_07_bar__plus_04_dot_72 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72)\n (inReceptacle Mug_bar__plus_00_dot_67_bar__plus_00_dot_14_bar__plus_00_dot_42 Cabinet_bar__plus_00_dot_44_bar__plus_00_dot_42_bar__plus_00_dot_74)\n (inReceptacle Cup_bar__plus_00_dot_67_bar__plus_00_dot_14_bar__plus_00_dot_58 Cabinet_bar__plus_00_dot_44_bar__plus_00_dot_42_bar__plus_00_dot_74)\n (inReceptacle SoapBottle_bar__minus_00_dot_55_bar__plus_00_dot_14_bar__plus_00_dot_66 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Lettuce_bar__plus_01_dot_45_bar__plus_00_dot_93_bar__plus_02_dot_05 Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin)\n (inReceptacle Apple_bar__plus_01_dot_96_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 Mug_bar__plus_00_dot_27_bar__plus_01_dot_09_bar__plus_00_dot_25 loc_bar_1_bar_6_bar_2_bar_30)\n (objectAtLocation Spoon_bar__minus_00_dot_01_bar__plus_00_dot_77_bar__plus_00_dot_45 loc_bar__minus_3_bar_5_bar_1_bar_45)\n (objectAtLocation Cup_bar__minus_00_dot_22_bar__plus_00_dot_76_bar__plus_06_dot_79 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation DishSponge_bar__plus_00_dot_26_bar__plus_00_dot_77_bar__plus_00_dot_62 loc_bar__minus_3_bar_5_bar_1_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_69_bar__plus_01_dot_04_bar__plus_00_dot_21 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Spatula_bar__plus_01_dot_58_bar__plus_01_dot_01_bar__plus_00_dot_44 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Lettuce_bar__plus_01_dot_45_bar__plus_00_dot_93_bar__plus_02_dot_05 loc_bar_3_bar_9_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__plus_01_dot_32_bar__plus_00_dot_14_bar__plus_02_dot_50 loc_bar_1_bar_10_bar_1_bar_60)\n (objectAtLocation Plate_bar__plus_01_dot_49_bar__plus_00_dot_14_bar__plus_02_dot_16 loc_bar_1_bar_7_bar_1_bar_60)\n (objectAtLocation Apple_bar__plus_01_dot_96_bar__plus_00_dot_16_bar__plus_06_dot_47 loc_bar_4_bar_24_bar_1_bar_60)\n (objectAtLocation Fork_bar__minus_00_dot_22_bar__plus_00_dot_76_bar__plus_06_dot_94 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Knife_bar__plus_00_dot_06_bar__plus_00_dot_79_bar__plus_06_dot_26 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_31_bar__plus_00_dot_81_bar__plus_06_dot_42 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_47_bar__plus_00_dot_83_bar__plus_06_dot_60 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Mug_bar__plus_00_dot_67_bar__plus_00_dot_14_bar__plus_00_dot_42 loc_bar_1_bar_7_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__plus_01_dot_49_bar__plus_01_dot_08_bar__plus_00_dot_21 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__plus_01_dot_16_bar__plus_00_dot_14_bar__plus_03_dot_14 loc_bar_1_bar_14_bar_1_bar_60)\n (objectAtLocation Plate_bar__plus_00_dot_21_bar__plus_00_dot_76_bar__plus_06_dot_20 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Cup_bar__plus_00_dot_67_bar__plus_00_dot_14_bar__plus_00_dot_58 loc_bar_1_bar_7_bar_2_bar_45)\n (objectAtLocation Fork_bar__plus_00_dot_31_bar__plus_00_dot_76_bar__plus_06_dot_54 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_61_bar__plus_00_dot_99_bar__plus_00_dot_49 loc_bar_3_bar_4_bar_1_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_02_dot_05_bar__plus_01_dot_51_bar__plus_05_dot_63 loc_bar_4_bar_22_bar_1_bar_60)\n (objectAtLocation Bread_bar__plus_01_dot_10_bar__plus_01_dot_05_bar__plus_00_dot_43 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_61_bar__plus_01_dot_04_bar__plus_00_dot_12 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Knife_bar__plus_01_dot_40_bar__plus_01_dot_02_bar__plus_03_dot_23 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_49_bar__plus_00_dot_76_bar__plus_06_dot_15 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Apple_bar__plus_01_dot_14_bar__plus_01_dot_07_bar__plus_04_dot_72 loc_bar_3_bar_19_bar_1_bar_45)\n (objectAtLocation Kettle_bar__plus_01_dot_59_bar__plus_00_dot_98_bar__plus_03_dot_25 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Plate_bar__plus_01_dot_49_bar__plus_00_dot_14_bar__plus_03_dot_22 loc_bar_1_bar_14_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__plus_01_dot_41_bar__plus_00_dot_14_bar__plus_01_dot_94 loc_bar_1_bar_7_bar_1_bar_60)\n (objectAtLocation Lettuce_bar__minus_00_dot_38_bar__plus_01_dot_08_bar__plus_00_dot_40 loc_bar_3_bar_4_bar_1_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__minus_00_dot_55_bar__plus_00_dot_14_bar__plus_00_dot_66 loc_bar_0_bar_7_bar_2_bar_45)\n (objectAtLocation Spatula_bar__plus_00_dot_06_bar__plus_00_dot_79_bar__plus_00_dot_40 loc_bar__minus_3_bar_5_bar_1_bar_45)\n (objectAtLocation PaperTowelRoll_bar__plus_00_dot_54_bar__plus_01_dot_10_bar__plus_00_dot_30 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_00_dot_26_bar__plus_00_dot_79_bar__plus_06_dot_72 loc_bar_3_bar_26_bar_3_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__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 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_00_bar__plus_01_dot_04_bar__plus_00_dot_21 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__plus_00_dot_87_bar__plus_00_dot_77_bar__plus_00_dot_62 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation Cup_bar__plus_02_dot_05_bar__plus_01_dot_51_bar__plus_05_dot_88 loc_bar_4_bar_22_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__minus_00_dot_09_bar__plus_00_dot_76_bar__plus_06_dot_63 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_38_bar__plus_00_dot_76_bar__plus_06_dot_70 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 (heatable ?o)\n (objectType ?o CupType)\n (receptacleType ?r CabinetType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 1", "take cup 3 from diningtable 1", "go to microwave 1", "heat cup 3 with microwave 1", "go to cabinet 6", "move cup 3 to cabinet 6"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Cup-None-Cabinet-18/trial_T20190907_150724_149124/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Cup-None-Cabinet-18/trial_T20190907_150724_149124/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..f6af3513e69dddb804cb0bc7311a454eac66b3a1 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Cup-None-Cabinet-18/trial_T20190907_150724_149124/initial_state.pddl @@ -0,0 +1,1104 @@ + +(define (problem plan_trial_T20190907_150724_149124) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_72 - object + Apple_bar__plus_01_dot_96_bar__plus_00_dot_16_bar__plus_06_dot_47 - object + Apple_bar__minus_00_dot_47_bar__plus_00_dot_83_bar__plus_06_dot_60 - object + 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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_2_bar_15_bar_2_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 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CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle Tomato_bar__minus_00_dot_69_bar__plus_01_dot_04_bar__plus_00_dot_21 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle Bread_bar__plus_01_dot_10_bar__plus_01_dot_05_bar__plus_00_dot_43 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle Lettuce_bar__minus_00_dot_38_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 Knife_bar__plus_01_dot_40_bar__plus_01_dot_02_bar__plus_03_dot_23 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle Tomato_bar__plus_01_dot_00_bar__plus_01_dot_04_bar__plus_00_dot_21 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (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) 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Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin) + (inReceptacle Apple_bar__plus_01_dot_96_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) + + + (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) + (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) + (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) + (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) + (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) + (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) + 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loc_bar__minus_1_bar_7_bar_2_bar_45) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (objectAtLocation Mug_bar__plus_00_dot_27_bar__plus_01_dot_09_bar__plus_00_dot_25 loc_bar_1_bar_6_bar_2_bar_30) + (objectAtLocation Spoon_bar__minus_00_dot_01_bar__plus_00_dot_77_bar__plus_00_dot_45 loc_bar__minus_3_bar_5_bar_1_bar_45) + (objectAtLocation 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Fork_bar__minus_00_dot_22_bar__plus_00_dot_76_bar__plus_06_dot_94 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Knife_bar__plus_00_dot_06_bar__plus_00_dot_79_bar__plus_06_dot_26 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Egg_bar__minus_00_dot_31_bar__plus_00_dot_81_bar__plus_06_dot_42 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Apple_bar__minus_00_dot_47_bar__plus_00_dot_83_bar__plus_06_dot_60 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Mug_bar__plus_00_dot_67_bar__plus_00_dot_14_bar__plus_00_dot_42 loc_bar_1_bar_7_bar_2_bar_45) + (objectAtLocation Lettuce_bar__plus_01_dot_49_bar__plus_01_dot_08_bar__plus_00_dot_21 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation SaltShaker_bar__plus_01_dot_16_bar__plus_00_dot_14_bar__plus_03_dot_14 loc_bar_1_bar_14_bar_1_bar_60) + (objectAtLocation Plate_bar__plus_00_dot_21_bar__plus_00_dot_76_bar__plus_06_dot_20 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation 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loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Apple_bar__plus_01_dot_14_bar__plus_01_dot_07_bar__plus_04_dot_72 loc_bar_3_bar_19_bar_1_bar_45) + (objectAtLocation Kettle_bar__plus_01_dot_59_bar__plus_00_dot_98_bar__plus_03_dot_25 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation Plate_bar__plus_01_dot_49_bar__plus_00_dot_14_bar__plus_03_dot_22 loc_bar_1_bar_14_bar_1_bar_60) + (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) + (objectAtLocation SaltShaker_bar__plus_01_dot_41_bar__plus_00_dot_14_bar__plus_01_dot_94 loc_bar_1_bar_7_bar_1_bar_60) + (objectAtLocation Lettuce_bar__minus_00_dot_38_bar__plus_01_dot_08_bar__plus_00_dot_40 loc_bar_3_bar_4_bar_1_bar_45) + (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) + (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) + (objectAtLocation SoapBottle_bar__minus_00_dot_55_bar__plus_00_dot_14_bar__plus_00_dot_66 loc_bar_0_bar_7_bar_2_bar_45) + (objectAtLocation Spatula_bar__plus_00_dot_06_bar__plus_00_dot_79_bar__plus_00_dot_40 loc_bar__minus_3_bar_5_bar_1_bar_45) + (objectAtLocation PaperTowelRoll_bar__plus_00_dot_54_bar__plus_01_dot_10_bar__plus_00_dot_30 loc_bar_3_bar_4_bar_1_bar_45) + (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) + (objectAtLocation Potato_bar__plus_00_dot_26_bar__plus_00_dot_79_bar__plus_06_dot_72 loc_bar_3_bar_26_bar_3_bar_45) + (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) + (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) + (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) + (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) + (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) + (objectAtLocation PepperShaker_bar__minus_00_dot_38_bar__plus_00_dot_99_bar__plus_00_dot_67 loc_bar_3_bar_4_bar_1_bar_45) + (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) + (objectAtLocation Tomato_bar__plus_01_dot_00_bar__plus_01_dot_04_bar__plus_00_dot_21 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation DishSponge_bar__plus_00_dot_87_bar__plus_00_dot_77_bar__plus_00_dot_62 loc_bar_0_bar_5_bar_1_bar_45) + (objectAtLocation Cup_bar__plus_02_dot_05_bar__plus_01_dot_51_bar__plus_05_dot_88 loc_bar_4_bar_22_bar_1_bar_60) + (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) + (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) + (objectAtLocation Spoon_bar__minus_00_dot_09_bar__plus_00_dot_76_bar__plus_06_dot_63 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Mug_bar__minus_00_dot_38_bar__plus_00_dot_76_bar__plus_06_dot_70 loc_bar_3_bar_26_bar_3_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 + (heatable ?o) + (objectType ?o CupType) + (receptacleType ?r CabinetType) + (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-Cup-None-Cabinet-18/trial_T20190907_150724_149124/traj_data.json b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Cup-None-Cabinet-18/trial_T20190907_150724_149124/traj_data.json new file 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over to the microwave", + "Heat the cup in the microwave then remove it", + "Walk a couple feet from the counter then turn back toward it", + "Open the bottom right cabinet and put the cup in it" + ], + "task_desc": "Put the heated cup in the kitchen cabinet", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1KFTQRBMXSC13_3Z7ISHFUH3C43D35N3WUI56TFRYZ89", + "high_descs": [ + "Walk straight ahead and open the lower cabinet. ", + "Grab a cup from the cabinet.", + "Turn right, walk to the microwave, open it and place the cup inside next to the mug. ", + "Turn on the microwave and wait for it to turn off. ", + "Open the microwave and remove the cup.", + "Open the cabinet on the far right below the microwave and place the cup next to the soap dispenser. Close the cabinet door. " + ], + "task_desc": "Find a cup in a cabinet, microwave it, place it inside a different cabinet.", + "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-Egg-None-SideTable-28/trial_T20190908_115525_985140/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-SideTable-28/trial_T20190908_115525_985140/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..38d710be665ab2289c45bf51ce8170cf06b20c9c --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-SideTable-28/trial_T20190908_115525_985140/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 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_115525_985140)\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_64_bar__minus_02_dot_10 - object\n Apple_bar__minus_03_dot_88_bar__plus_00_dot_75_bar__minus_00_dot_13 - object\n Apple_bar__minus_04_dot_06_bar__plus_00_dot_75_bar__minus_00_dot_31 - object\n Blinds_bar__minus_01_dot_37_bar__plus_02_dot_21_bar__minus_03_dot_96 - object\n Bowl_bar__minus_00_dot_32_bar__plus_01_dot_49_bar__minus_00_dot_65 - object\n Bowl_bar__minus_00_dot_38_bar__plus_01_dot_28_bar__minus_00_dot_41 - object\n Bowl_bar__minus_03_dot_16_bar__plus_00_dot_89_bar__minus_00_dot_38 - object\n Bread_bar__minus_03_dot_16_bar__plus_00_dot_98_bar__minus_00_dot_20 - object\n Bread_bar__minus_03_dot_57_bar__plus_00_dot_98_bar__minus_00_dot_29 - object\n Bread_bar__minus_03_dot_60_bar__plus_00_dot_84_bar__minus_03_dot_65 - object\n ButterKnife_bar__minus_00_dot_39_bar__plus_00_dot_94_bar__minus_01_dot_36 - object\n ButterKnife_bar__minus_00_dot_96_bar__plus_00_dot_94_bar__minus_03_dot_70 - object\n ButterKnife_bar__minus_02_dot_56_bar__plus_00_dot_89_bar__minus_00_dot_55 - object\n Cup_bar__minus_00_dot_20_bar__plus_01_dot_58_bar__minus_01_dot_88 - object\n Cup_bar__minus_00_dot_29_bar__plus_01_dot_29_bar__minus_00_dot_76 - object\n Cup_bar__minus_02_dot_56_bar__plus_00_dot_90_bar__minus_00_dot_29 - object\n DishSponge_bar__minus_02_dot_42_bar__plus_00_dot_10_bar__minus_03_dot_54 - object\n DishSponge_bar__minus_04_dot_06_bar__plus_00_dot_69_bar__minus_00_dot_43 - object\n Egg_bar__minus_02_dot_76_bar__plus_00_dot_94_bar__minus_00_dot_20 - object\n Egg_bar__minus_04_dot_24_bar__plus_00_dot_73_bar__minus_00_dot_43 - 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_72_bar__plus_00_dot_81_bar__minus_03_dot_49 - object\n Fork_bar__minus_03_dot_57_bar__plus_00_dot_76_bar__minus_03_dot_43 - object\n Fork_bar__minus_04_dot_06_bar__plus_00_dot_69_bar__minus_00_dot_49 - object\n Knife_bar__minus_02_dot_76_bar__plus_00_dot_92_bar__minus_00_dot_46 - object\n Knife_bar__minus_02_dot_96_bar__plus_00_dot_92_bar__minus_00_dot_38 - object\n Knife_bar__minus_03_dot_88_bar__plus_00_dot_72_bar__minus_00_dot_31 - object\n Lettuce_bar__minus_00_dot_32_bar__plus_01_dot_58_bar__minus_00_dot_41 - object\n Lettuce_bar__minus_03_dot_31_bar__plus_00_dot_85_bar__minus_03_dot_24 - object\n Lettuce_bar__minus_03_dot_36_bar__plus_00_dot_99_bar__minus_00_dot_29 - object\n LightSwitch_bar__minus_04_dot_37_bar__plus_01_dot_49_bar__minus_01_dot_03 - object\n Mug_bar__minus_01_dot_25_bar__plus_00_dot_94_bar__minus_03_dot_44 - object\n Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_02_dot_22 - object\n PepperShaker_bar__minus_01_dot_15_bar__plus_00_dot_75_bar__minus_03_dot_48 - object\n Plate_bar__minus_00_dot_21_bar__plus_01_dot_95_bar__minus_01_dot_11 - object\n Plate_bar__minus_00_dot_36_bar__plus_01_dot_50_bar__minus_00_dot_99 - object\n Potato_bar__minus_03_dot_51_bar__plus_00_dot_79_bar__minus_03_dot_20 - object\n Potato_bar__minus_03_dot_94_bar__plus_00_dot_72_bar__minus_00_dot_25 - object\n Pot_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_01_dot_85 - object\n Pot_bar__minus_03_dot_93_bar__plus_00_dot_76_bar__minus_03_dot_40 - object\n SaltShaker_bar__minus_00_dot_25_bar__plus_01_dot_93_bar__minus_00_dot_90 - object\n Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39 - object\n SoapBottle_bar__minus_00_dot_54_bar__plus_00_dot_08_bar__minus_01_dot_53 - object\n SoapBottle_bar__minus_03_dot_33_bar__plus_00_dot_76_bar__minus_03_dot_42 - object\n Spatula_bar__minus_00_dot_32_bar__plus_00_dot_96_bar__minus_01_dot_54 - object\n Spatula_bar__minus_03_dot_59_bar__plus_00_dot_78_bar__minus_02_dot_84 - object\n Spoon_bar__minus_00_dot_74_bar__plus_00_dot_81_bar__minus_03_dot_59 - object\n Spoon_bar__minus_01_dot_47_bar__plus_00_dot_94_bar__minus_03_dot_67 - 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_00_dot_32_bar__plus_00_dot_99_bar__minus_02_dot_94 - 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 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45 - receptacle\n CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67 - receptacle\n DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44 - receptacle\n DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32 - receptacle\n Drawer_bar__minus_00_dot_48_bar__plus_00_dot_78_bar__minus_02_dot_74 - receptacle\n Drawer_bar__minus_00_dot_50_bar__plus_00_dot_78_bar__minus_01_dot_45 - receptacle\n Drawer_bar__minus_01_dot_15_bar__plus_00_dot_78_bar__minus_03_dot_50 - receptacle\n Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65 - receptacle\n GarbageCan_bar__minus_02_dot_42_bar__plus_00_dot_00_bar__minus_03_dot_54 - receptacle\n Microwave_bar__minus_00_dot_22_bar__plus_01_dot_47_bar__minus_02_dot_06 - receptacle\n SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31 - receptacle\n Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_01_dot_85 - receptacle\n StoveBurner_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_02_dot_24 - receptacle\n StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_85 - receptacle\n StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_02_dot_24 - receptacle\n Toaster_bar__minus_01_dot_97_bar__plus_00_dot_93_bar__minus_03_dot_76 - receptacle\n loc_bar__minus_6_bar__minus_12_bar_2_bar_0 - location\n loc_bar__minus_6_bar__minus_4_bar_1_bar__minus_15 - location\n loc_bar__minus_8_bar__minus_11_bar_1_bar_30 - location\n loc_bar__minus_4_bar__minus_6_bar_1_bar_45 - location\n loc_bar__minus_6_bar__minus_12_bar_2_bar_45 - location\n loc_bar__minus_5_bar__minus_3_bar_1_bar_60 - location\n loc_bar__minus_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_5_bar__minus_1_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 Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39_bar_SinkBasin SinkBasinType)\n (receptacleType DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44 DiningTableType)\n (receptacleType Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_00_dot_39 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_89_bar__minus_02_dot_51 CabinetType)\n (receptacleType CoffeeMachine_bar__minus_02_dot_51_bar__plus_00_dot_93_bar__minus_03_dot_80 CoffeeMachineType)\n (receptacleType Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_02_dot_50 CabinetType)\n (receptacleType CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45 CounterTopType)\n (receptacleType Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_01_dot_27 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_01_dot_61 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_03_dot_01 CabinetType)\n (receptacleType StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_85 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_02_dot_51 CabinetType)\n (receptacleType Drawer_bar__minus_01_dot_15_bar__plus_00_dot_78_bar__minus_03_dot_50 DrawerType)\n (receptacleType StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_02_dot_24 StoveBurnerType)\n (receptacleType Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65 FridgeType)\n (receptacleType Drawer_bar__minus_00_dot_50_bar__plus_00_dot_78_bar__minus_01_dot_45 DrawerType)\n (receptacleType Microwave_bar__minus_00_dot_22_bar__plus_01_dot_47_bar__minus_02_dot_06 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Tomato_bar__minus_00_dot_32_bar__plus_00_dot_99_bar__minus_02_dot_94)\n (cleanable ButterKnife_bar__minus_00_dot_39_bar__plus_00_dot_94_bar__minus_01_dot_36)\n (cleanable Lettuce_bar__minus_03_dot_36_bar__plus_00_dot_99_bar__minus_00_dot_29)\n (cleanable Bowl_bar__minus_00_dot_32_bar__plus_01_dot_49_bar__minus_00_dot_65)\n (cleanable Apple_bar__minus_00_dot_17_bar__plus_01_dot_64_bar__minus_02_dot_10)\n (cleanable Potato_bar__minus_03_dot_94_bar__plus_00_dot_72_bar__minus_00_dot_25)\n (cleanable Plate_bar__minus_00_dot_36_bar__plus_01_dot_50_bar__minus_00_dot_99)\n (cleanable Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_02_dot_22)\n (cleanable Cup_bar__minus_02_dot_56_bar__plus_00_dot_90_bar__minus_00_dot_29)\n (cleanable Apple_bar__minus_03_dot_88_bar__plus_00_dot_75_bar__minus_00_dot_13)\n (cleanable ButterKnife_bar__minus_02_dot_56_bar__plus_00_dot_89_bar__minus_00_dot_55)\n (cleanable DishSponge_bar__minus_02_dot_42_bar__plus_00_dot_10_bar__minus_03_dot_54)\n (cleanable Bowl_bar__minus_00_dot_38_bar__plus_01_dot_28_bar__minus_00_dot_41)\n (cleanable Knife_bar__minus_02_dot_76_bar__plus_00_dot_92_bar__minus_00_dot_46)\n (cleanable Apple_bar__minus_04_dot_06_bar__plus_00_dot_75_bar__minus_00_dot_31)\n (cleanable Fork_bar__minus_03_dot_57_bar__plus_00_dot_76_bar__minus_03_dot_43)\n \n (heatable Bread_bar__minus_03_dot_57_bar__plus_00_dot_98_bar__minus_00_dot_29)\n (heatable Plate_bar__minus_00_dot_21_bar__plus_01_dot_95_bar__minus_01_dot_11)\n (heatable Egg_bar__minus_04_dot_24_bar__plus_00_dot_73_bar__minus_00_dot_43)\n (heatable Cup_bar__minus_00_dot_29_bar__plus_01_dot_29_bar__minus_00_dot_76)\n (heatable Cup_bar__minus_00_dot_20_bar__plus_01_dot_58_bar__minus_01_dot_88)\n (heatable Mug_bar__minus_01_dot_25_bar__plus_00_dot_94_bar__minus_03_dot_44)\n (heatable Potato_bar__minus_03_dot_51_bar__plus_00_dot_79_bar__minus_03_dot_20)\n (heatable Bread_bar__minus_03_dot_60_bar__plus_00_dot_84_bar__minus_03_dot_65)\n (heatable Egg_bar__minus_02_dot_76_bar__plus_00_dot_94_bar__minus_00_dot_20)\n (heatable Tomato_bar__minus_00_dot_32_bar__plus_00_dot_99_bar__minus_02_dot_94)\n (heatable Bread_bar__minus_03_dot_16_bar__plus_00_dot_98_bar__minus_00_dot_20)\n (heatable Apple_bar__minus_00_dot_17_bar__plus_01_dot_64_bar__minus_02_dot_10)\n (heatable Potato_bar__minus_03_dot_94_bar__plus_00_dot_72_bar__minus_00_dot_25)\n (heatable Plate_bar__minus_00_dot_36_bar__plus_01_dot_50_bar__minus_00_dot_99)\n (heatable Cup_bar__minus_02_dot_56_bar__plus_00_dot_90_bar__minus_00_dot_29)\n (heatable Apple_bar__minus_03_dot_88_bar__plus_00_dot_75_bar__minus_00_dot_13)\n (heatable Apple_bar__minus_04_dot_06_bar__plus_00_dot_75_bar__minus_00_dot_31)\n (coolable Bread_bar__minus_03_dot_57_bar__plus_00_dot_98_bar__minus_00_dot_29)\n (coolable Plate_bar__minus_00_dot_21_bar__plus_01_dot_95_bar__minus_01_dot_11)\n (coolable Egg_bar__minus_04_dot_24_bar__plus_00_dot_73_bar__minus_00_dot_43)\n (coolable 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Egg_bar__minus_04_dot_24_bar__plus_00_dot_73_bar__minus_00_dot_43)\n (sliceable Lettuce_bar__minus_03_dot_31_bar__plus_00_dot_85_bar__minus_03_dot_24)\n (sliceable Potato_bar__minus_03_dot_51_bar__plus_00_dot_79_bar__minus_03_dot_20)\n (sliceable Lettuce_bar__minus_00_dot_32_bar__plus_01_dot_58_bar__minus_00_dot_41)\n (sliceable Bread_bar__minus_03_dot_60_bar__plus_00_dot_84_bar__minus_03_dot_65)\n (sliceable Egg_bar__minus_02_dot_76_bar__plus_00_dot_94_bar__minus_00_dot_20)\n (sliceable Tomato_bar__minus_00_dot_32_bar__plus_00_dot_99_bar__minus_02_dot_94)\n (sliceable Bread_bar__minus_03_dot_16_bar__plus_00_dot_98_bar__minus_00_dot_20)\n (sliceable Lettuce_bar__minus_03_dot_36_bar__plus_00_dot_99_bar__minus_00_dot_29)\n (sliceable Apple_bar__minus_00_dot_17_bar__plus_01_dot_64_bar__minus_02_dot_10)\n (sliceable Potato_bar__minus_03_dot_94_bar__plus_00_dot_72_bar__minus_00_dot_25)\n (sliceable Apple_bar__minus_03_dot_88_bar__plus_00_dot_75_bar__minus_00_dot_13)\n (sliceable 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DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Cup_bar__minus_02_dot_56_bar__plus_00_dot_90_bar__minus_00_dot_29 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Bread_bar__minus_03_dot_16_bar__plus_00_dot_98_bar__minus_00_dot_20 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Bowl_bar__minus_03_dot_16_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 Lettuce_bar__minus_03_dot_36_bar__plus_00_dot_99_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_02_dot_56_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 Knife_bar__minus_02_dot_76_bar__plus_00_dot_92_bar__minus_00_dot_46 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DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Spatula_bar__minus_03_dot_59_bar__plus_00_dot_78_bar__minus_02_dot_84 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Fork_bar__minus_03_dot_57_bar__plus_00_dot_76_bar__minus_03_dot_43 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Pot_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 Pot_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 Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_02_dot_22 StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_02_dot_24)\n (inReceptacle PepperShaker_bar__minus_01_dot_15_bar__plus_00_dot_75_bar__minus_03_dot_48 Drawer_bar__minus_01_dot_15_bar__plus_00_dot_78_bar__minus_03_dot_50)\n (inReceptacle Plate_bar__minus_00_dot_21_bar__plus_01_dot_95_bar__minus_01_dot_11 Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_01_dot_27)\n (inReceptacle SaltShaker_bar__minus_00_dot_25_bar__plus_01_dot_93_bar__minus_00_dot_90 Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_01_dot_27)\n (inReceptacle SoapBottle_bar__minus_00_dot_54_bar__plus_00_dot_08_bar__minus_01_dot_53 Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_01_dot_61)\n (inReceptacle Potato_bar__minus_03_dot_94_bar__plus_00_dot_72_bar__minus_00_dot_25 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Egg_bar__minus_04_dot_24_bar__plus_00_dot_73_bar__minus_00_dot_43 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle DishSponge_bar__minus_04_dot_06_bar__plus_00_dot_69_bar__minus_00_dot_43 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Fork_bar__minus_04_dot_06_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 Apple_bar__minus_03_dot_88_bar__plus_00_dot_75_bar__minus_00_dot_13 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Knife_bar__minus_03_dot_88_bar__plus_00_dot_72_bar__minus_00_dot_31 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_31 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Spatula_bar__minus_00_dot_32_bar__plus_00_dot_96_bar__minus_01_dot_54 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45)\n (inReceptacle ButterKnife_bar__minus_00_dot_39_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 Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_02_dot_22 StoveBurner_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_02_dot_24)\n (inReceptacle DishSponge_bar__minus_02_dot_42_bar__plus_00_dot_10_bar__minus_03_dot_54 GarbageCan_bar__minus_02_dot_42_bar__plus_00_dot_00_bar__minus_03_dot_54)\n (inReceptacle Fork_bar__minus_00_dot_72_bar__plus_00_dot_81_bar__minus_03_dot_49 Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39_bar_SinkBasin)\n (inReceptacle Spoon_bar__minus_00_dot_74_bar__plus_00_dot_81_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 Plate_bar__minus_00_dot_36_bar__plus_01_dot_50_bar__minus_00_dot_99 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\n (inReceptacle Cup_bar__minus_00_dot_29_bar__plus_01_dot_29_bar__minus_00_dot_76 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\n (inReceptacle Lettuce_bar__minus_00_dot_32_bar__plus_01_dot_58_bar__minus_00_dot_41 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\n (inReceptacle Bowl_bar__minus_00_dot_32_bar__plus_01_dot_49_bar__minus_00_dot_65 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_41 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\n (inReceptacle Cup_bar__minus_00_dot_20_bar__plus_01_dot_58_bar__minus_01_dot_88 Microwave_bar__minus_00_dot_22_bar__plus_01_dot_47_bar__minus_02_dot_06)\n (inReceptacle Apple_bar__minus_00_dot_17_bar__plus_01_dot_64_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 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_00_dot_32_bar__plus_01_dot_49_bar__minus_00_dot_65 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Lettuce_bar__minus_00_dot_32_bar__plus_01_dot_58_bar__minus_00_dot_41 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Spoon_bar__minus_00_dot_74_bar__plus_00_dot_81_bar__minus_03_dot_59 loc_bar__minus_8_bar__minus_11_bar_1_bar_30)\n (objectAtLocation Egg_bar__minus_02_dot_76_bar__plus_00_dot_94_bar__minus_00_dot_20 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Potato_bar__minus_03_dot_51_bar__plus_00_dot_79_bar__minus_03_dot_20 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__minus_04_dot_06_bar__plus_00_dot_69_bar__minus_00_dot_43 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_17_bar__plus_01_dot_64_bar__minus_02_dot_10 loc_bar__minus_4_bar__minus_8_bar_1_bar_15)\n (objectAtLocation ButterKnife_bar__minus_02_dot_56_bar__plus_00_dot_89_bar__minus_00_dot_55 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Knife_bar__minus_03_dot_88_bar__plus_00_dot_72_bar__minus_00_dot_31 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Spatula_bar__minus_03_dot_59_bar__plus_00_dot_78_bar__minus_02_dot_84 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Bread_bar__minus_03_dot_60_bar__plus_00_dot_84_bar__minus_03_dot_65 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Plate_bar__minus_00_dot_36_bar__plus_01_dot_50_bar__minus_00_dot_99 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Cup_bar__minus_02_dot_56_bar__plus_00_dot_90_bar__minus_00_dot_29 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Fork_bar__minus_00_dot_72_bar__plus_00_dot_81_bar__minus_03_dot_49 loc_bar__minus_8_bar__minus_11_bar_1_bar_30)\n (objectAtLocation Pot_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_01_dot_85 loc_bar__minus_4_bar__minus_7_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_54_bar__plus_00_dot_08_bar__minus_01_dot_53 loc_bar__minus_6_bar__minus_6_bar_1_bar_60)\n (objectAtLocation Apple_bar__minus_04_dot_06_bar__plus_00_dot_75_bar__minus_00_dot_31 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Lettuce_bar__minus_03_dot_36_bar__plus_00_dot_99_bar__minus_00_dot_29 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Bread_bar__minus_03_dot_57_bar__plus_00_dot_98_bar__minus_00_dot_29 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Bowl_bar__minus_03_dot_16_bar__plus_00_dot_89_bar__minus_00_dot_38 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Knife_bar__minus_02_dot_96_bar__plus_00_dot_92_bar__minus_00_dot_38 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Cup_bar__minus_00_dot_29_bar__plus_01_dot_29_bar__minus_00_dot_76 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Fork_bar__minus_04_dot_06_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_96_bar__plus_00_dot_94_bar__minus_03_dot_70 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_03_dot_33_bar__plus_00_dot_76_bar__minus_03_dot_42 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Pot_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 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_03_dot_57_bar__plus_00_dot_76_bar__minus_03_dot_43 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Cup_bar__minus_00_dot_20_bar__plus_01_dot_58_bar__minus_01_dot_88 loc_bar__minus_4_bar__minus_8_bar_1_bar_15)\n (objectAtLocation Tomato_bar__minus_00_dot_32_bar__plus_00_dot_99_bar__minus_02_dot_94 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (objectAtLocation Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_02_dot_22 loc_bar__minus_4_bar__minus_9_bar_1_bar_45)\n (objectAtLocation Plate_bar__minus_00_dot_21_bar__plus_01_dot_95_bar__minus_01_dot_11 loc_bar__minus_6_bar__minus_6_bar_1_bar__minus_15)\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_16_bar__plus_00_dot_98_bar__minus_00_dot_20 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Spatula_bar__minus_00_dot_32_bar__plus_00_dot_96_bar__minus_01_dot_54 loc_bar__minus_4_bar__minus_6_bar_1_bar_45)\n (objectAtLocation Knife_bar__minus_02_dot_76_bar__plus_00_dot_92_bar__minus_00_dot_46 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation SaltShaker_bar__minus_00_dot_25_bar__plus_01_dot_93_bar__minus_00_dot_90 loc_bar__minus_6_bar__minus_6_bar_1_bar__minus_15)\n (objectAtLocation PepperShaker_bar__minus_01_dot_15_bar__plus_00_dot_75_bar__minus_03_dot_48 loc_bar__minus_4_bar__minus_12_bar_2_bar_60)\n (objectAtLocation ButterKnife_bar__minus_00_dot_39_bar__plus_00_dot_94_bar__minus_01_dot_36 loc_bar__minus_4_bar__minus_6_bar_1_bar_45)\n (objectAtLocation Apple_bar__minus_03_dot_88_bar__plus_00_dot_75_bar__minus_00_dot_13 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation DishSponge_bar__minus_02_dot_42_bar__plus_00_dot_10_bar__minus_03_dot_54 loc_bar__minus_10_bar__minus_12_bar_2_bar_60)\n (objectAtLocation Potato_bar__minus_03_dot_94_bar__plus_00_dot_72_bar__minus_00_dot_25 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Egg_bar__minus_04_dot_24_bar__plus_00_dot_73_bar__minus_00_dot_43 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Spoon_bar__minus_01_dot_47_bar__plus_00_dot_94_bar__minus_03_dot_67 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__minus_03_dot_31_bar__plus_00_dot_85_bar__minus_03_dot_24 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Mug_bar__minus_01_dot_25_bar__plus_00_dot_94_bar__minus_03_dot_44 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\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_38_bar__plus_01_dot_28_bar__minus_00_dot_41 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 EggType)\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 egg 2 from diningtable 2", "go to microwave 1", "heat egg 2 with microwave 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_heat_then_place_in_recep-Egg-None-SideTable-28/trial_T20190908_115525_985140/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-SideTable-28/trial_T20190908_115525_985140/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..9a0513ba9a65b4937f5e2e3ee9a57a253ecc5909 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-SideTable-28/trial_T20190908_115525_985140/initial_state.pddl @@ -0,0 +1,1023 @@ + +(define (problem plan_trial_T20190908_115525_985140) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + 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Knife_bar__minus_02_dot_76_bar__plus_00_dot_92_bar__minus_00_dot_46) + (cleanable Apple_bar__minus_04_dot_06_bar__plus_00_dot_75_bar__minus_00_dot_31) + (cleanable Fork_bar__minus_03_dot_57_bar__plus_00_dot_76_bar__minus_03_dot_43) + + (heatable Bread_bar__minus_03_dot_57_bar__plus_00_dot_98_bar__minus_00_dot_29) + (heatable Plate_bar__minus_00_dot_21_bar__plus_01_dot_95_bar__minus_01_dot_11) + (heatable Egg_bar__minus_04_dot_24_bar__plus_00_dot_73_bar__minus_00_dot_43) + (heatable Cup_bar__minus_00_dot_29_bar__plus_01_dot_29_bar__minus_00_dot_76) + (heatable Cup_bar__minus_00_dot_20_bar__plus_01_dot_58_bar__minus_01_dot_88) + (heatable Mug_bar__minus_01_dot_25_bar__plus_00_dot_94_bar__minus_03_dot_44) + (heatable Potato_bar__minus_03_dot_51_bar__plus_00_dot_79_bar__minus_03_dot_20) + (heatable Bread_bar__minus_03_dot_60_bar__plus_00_dot_84_bar__minus_03_dot_65) + (heatable Egg_bar__minus_02_dot_76_bar__plus_00_dot_94_bar__minus_00_dot_20) + (heatable Tomato_bar__minus_00_dot_32_bar__plus_00_dot_99_bar__minus_02_dot_94) + (heatable Bread_bar__minus_03_dot_16_bar__plus_00_dot_98_bar__minus_00_dot_20) + (heatable Apple_bar__minus_00_dot_17_bar__plus_01_dot_64_bar__minus_02_dot_10) + (heatable Potato_bar__minus_03_dot_94_bar__plus_00_dot_72_bar__minus_00_dot_25) + (heatable Plate_bar__minus_00_dot_36_bar__plus_01_dot_50_bar__minus_00_dot_99) + (heatable Cup_bar__minus_02_dot_56_bar__plus_00_dot_90_bar__minus_00_dot_29) + (heatable Apple_bar__minus_03_dot_88_bar__plus_00_dot_75_bar__minus_00_dot_13) + (heatable Apple_bar__minus_04_dot_06_bar__plus_00_dot_75_bar__minus_00_dot_31) + (coolable Bread_bar__minus_03_dot_57_bar__plus_00_dot_98_bar__minus_00_dot_29) + (coolable Plate_bar__minus_00_dot_21_bar__plus_01_dot_95_bar__minus_01_dot_11) + (coolable Egg_bar__minus_04_dot_24_bar__plus_00_dot_73_bar__minus_00_dot_43) + (coolable Cup_bar__minus_00_dot_29_bar__plus_01_dot_29_bar__minus_00_dot_76) + (coolable 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Mug_bar__minus_01_dot_25_bar__plus_00_dot_94_bar__minus_03_dot_44 CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67) + (inReceptacle ButterKnife_bar__minus_00_dot_96_bar__plus_00_dot_94_bar__minus_03_dot_70 CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67) + (inReceptacle Spoon_bar__minus_01_dot_47_bar__plus_00_dot_94_bar__minus_03_dot_67 CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67) + (inReceptacle Tomato_bar__minus_00_dot_32_bar__plus_00_dot_99_bar__minus_02_dot_94 CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67) + (inReceptacle Bread_bar__minus_03_dot_57_bar__plus_00_dot_98_bar__minus_00_dot_29 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44) + (inReceptacle Knife_bar__minus_02_dot_96_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) + (inReceptacle Cup_bar__minus_02_dot_56_bar__plus_00_dot_90_bar__minus_00_dot_29 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44) + (inReceptacle Bread_bar__minus_03_dot_16_bar__plus_00_dot_98_bar__minus_00_dot_20 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44) + (inReceptacle Bowl_bar__minus_03_dot_16_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) + (inReceptacle Lettuce_bar__minus_03_dot_36_bar__plus_00_dot_99_bar__minus_00_dot_29 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44) + (inReceptacle ButterKnife_bar__minus_02_dot_56_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) + (inReceptacle Knife_bar__minus_02_dot_76_bar__plus_00_dot_92_bar__minus_00_dot_46 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44) + (inReceptacle Egg_bar__minus_02_dot_76_bar__plus_00_dot_94_bar__minus_00_dot_20 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44) + (inReceptacle Potato_bar__minus_03_dot_51_bar__plus_00_dot_79_bar__minus_03_dot_20 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32) + (inReceptacle Lettuce_bar__minus_03_dot_31_bar__plus_00_dot_85_bar__minus_03_dot_24 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32) + (inReceptacle Bread_bar__minus_03_dot_60_bar__plus_00_dot_84_bar__minus_03_dot_65 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32) + (inReceptacle SoapBottle_bar__minus_03_dot_33_bar__plus_00_dot_76_bar__minus_03_dot_42 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32) + (inReceptacle Pot_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) + (inReceptacle Spatula_bar__minus_03_dot_59_bar__plus_00_dot_78_bar__minus_02_dot_84 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32) + (inReceptacle Fork_bar__minus_03_dot_57_bar__plus_00_dot_76_bar__minus_03_dot_43 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32) + (inReceptacle Pot_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) + (inReceptacle Pot_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) + (inReceptacle Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_02_dot_22 StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_02_dot_24) + (inReceptacle PepperShaker_bar__minus_01_dot_15_bar__plus_00_dot_75_bar__minus_03_dot_48 Drawer_bar__minus_01_dot_15_bar__plus_00_dot_78_bar__minus_03_dot_50) + (inReceptacle Plate_bar__minus_00_dot_21_bar__plus_01_dot_95_bar__minus_01_dot_11 Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_01_dot_27) + (inReceptacle SaltShaker_bar__minus_00_dot_25_bar__plus_01_dot_93_bar__minus_00_dot_90 Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_01_dot_27) + (inReceptacle SoapBottle_bar__minus_00_dot_54_bar__plus_00_dot_08_bar__minus_01_dot_53 Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_01_dot_61) + (inReceptacle Potato_bar__minus_03_dot_94_bar__plus_00_dot_72_bar__minus_00_dot_25 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31) + (inReceptacle Egg_bar__minus_04_dot_24_bar__plus_00_dot_73_bar__minus_00_dot_43 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31) + (inReceptacle DishSponge_bar__minus_04_dot_06_bar__plus_00_dot_69_bar__minus_00_dot_43 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31) + (inReceptacle Fork_bar__minus_04_dot_06_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 Apple_bar__minus_03_dot_88_bar__plus_00_dot_75_bar__minus_00_dot_13 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31) + (inReceptacle Knife_bar__minus_03_dot_88_bar__plus_00_dot_72_bar__minus_00_dot_31 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31) + (inReceptacle Apple_bar__minus_04_dot_06_bar__plus_00_dot_75_bar__minus_00_dot_31 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31) + (inReceptacle Spatula_bar__minus_00_dot_32_bar__plus_00_dot_96_bar__minus_01_dot_54 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45) + (inReceptacle ButterKnife_bar__minus_00_dot_39_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 Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_02_dot_22 StoveBurner_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_02_dot_24) + (inReceptacle DishSponge_bar__minus_02_dot_42_bar__plus_00_dot_10_bar__minus_03_dot_54 GarbageCan_bar__minus_02_dot_42_bar__plus_00_dot_00_bar__minus_03_dot_54) + (inReceptacle Fork_bar__minus_00_dot_72_bar__plus_00_dot_81_bar__minus_03_dot_49 Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39_bar_SinkBasin) + (inReceptacle Spoon_bar__minus_00_dot_74_bar__plus_00_dot_81_bar__minus_03_dot_59 Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39_bar_SinkBasin) + (inReceptacle Plate_bar__minus_00_dot_36_bar__plus_01_dot_50_bar__minus_00_dot_99 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65) + (inReceptacle Cup_bar__minus_00_dot_29_bar__plus_01_dot_29_bar__minus_00_dot_76 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65) + (inReceptacle Lettuce_bar__minus_00_dot_32_bar__plus_01_dot_58_bar__minus_00_dot_41 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65) + (inReceptacle Bowl_bar__minus_00_dot_32_bar__plus_01_dot_49_bar__minus_00_dot_65 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65) + (inReceptacle Bowl_bar__minus_00_dot_38_bar__plus_01_dot_28_bar__minus_00_dot_41 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65) + (inReceptacle Cup_bar__minus_00_dot_20_bar__plus_01_dot_58_bar__minus_01_dot_88 Microwave_bar__minus_00_dot_22_bar__plus_01_dot_47_bar__minus_02_dot_06) + (inReceptacle Apple_bar__minus_00_dot_17_bar__plus_01_dot_64_bar__minus_02_dot_10 Microwave_bar__minus_00_dot_22_bar__plus_01_dot_47_bar__minus_02_dot_06) + + + (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) + (receptacleAtLocation 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"Spatula_1d69618b", + "position": { + "x": -3.58681631, + "y": 0.775088251, + "z": -2.841071 + }, + "rotation": { + "x": 0.0, + "y": 199.125946, + "z": 0.0 + } + }, + { + "objectName": "Knife_1b546504", + "position": { + "x": -3.8821454, + "y": 0.716118336, + "z": -0.309 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_6f13b4f9", + "position": { + "x": -0.2535286, + "y": 1.93414724, + "z": -0.8963769 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_8ae9f292", + "position": { + "x": -1.15479994, + "y": 0.749246538, + "z": -3.476358 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_e676ac70", + "position": { + "x": -2.56082559, + "y": 0.894662857, + "z": -0.548061967 + }, + "rotation": { + "x": 0.0, + "y": 270.000336, + "z": 0.0 + } + }, + { + "objectName": "Apple_4eadea0d", + "position": { + "x": -0.167795092, + "y": 1.63686419, + "z": -2.09674573 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_7e2c9e01", + "position": { + "x": -4.06235027, + "y": 0.690860569, + "z": -0.4306679 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_5e3edff7", + "position": { + "x": -3.50831437, + "y": 0.79206425, + "z": -3.19675 + }, + "rotation": { + "x": 0.0, + "y": 244.125916, + "z": 0.0 + } + }, + { + "objectName": "Egg_571582a1", + "position": { + "x": -2.761731, + "y": 0.9356876, + "z": -0.204985365 + }, + "rotation": { + "x": 0.0, + "y": 270.000336, + "z": 0.0 + } + }, + { + "objectName": "Spoon_7dcfa4cd", + "position": { + "x": -0.740141332, + "y": 0.8147884, + "z": -3.58881855 + }, + "rotation": { + "x": 9.92312057e-15, + "y": 45.0000343, + "z": 9.923131e-15 + } + }, + { + "objectName": "Lettuce_ec37c659", + "position": { + "x": -0.321308225, + "y": 1.57969487, + "z": -0.413377553 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Mug_f3c7368a", + "position": { + "x": -1.24855721, + "y": 0.9373, + "z": -3.439128 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_1f51c27f", + "position": { + "x": -0.3213089, + "y": 1.48701847, + "z": -0.646000147 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1310886628, + "scene_num": 28 + }, + "task_id": "trial_T20190908_115525_985140", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2A028LRDJB7ZB_3F6KKYWMNESUO87BXVLXAWXNA8HDNB", + "high_descs": [ + "Walk straight then turn right head to the shelf on the left side of the table ", + "Pick up the egg on the top of the shelf", + "Turn to your right cross the room and head to the microwave", + "Open the microwave and put in the egg then wait get it back and close the microwave", + "Turn left walk forward then turn right on the shelf", + "Put the egg on the shelf beside the sponge" + ], + "task_desc": "Put the heated egg on the shelf", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A24RGLS3BRZ60J_3G5F9DBFOSOO8TLMLIQEBY6YO3EHV7", + "high_descs": [ + "Turn to the left and then right to face the small black table on the right.", + "Pick up the egg from the left side of the black table.", + "Carry the egg and turn around. Turn left and go to the stove.", + "Place the egg in the microwave and shut the door. Open the door and take out the egg, then shut the door.", + "Carry the egg and turn around and then right to the black table.", + "Place the egg on the black table." + ], + "task_desc": "Heat an egg and place it on the table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3PPRVK6XK6GP5_3TY7ZAOG5IBZHILEO65M3XW0MOO0KL", + "high_descs": [ + "Turn left and step forward, then take a right and walk along the white table. At the wall turn right to face the black stand.", + "Grab the brown egg from the left of the fork.", + "Turn around and take a few steps toward the round table. Turn left and walk to the stove across the room.", + "Open the microwave, place the egg in the center next to the apple, run the machine then open the door and remove the egg.", + "Turn around and go back across the room, towards the door, turn right to face the black stand.", + "Return the egg to the stand, to the left of the fork.." + ], + "task_desc": "Heat an egg 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-Egg-None-SideTable-28/trial_T20190908_115607_419115/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-SideTable-28/trial_T20190908_115607_419115/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..9dc7630a81ed27b1bdaaa9585c0be54c76f2ca2f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-SideTable-28/trial_T20190908_115607_419115/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 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_115607_419115)\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_20_bar__plus_01_dot_64_bar__minus_01_dot_88 - object\n Apple_bar__minus_00_dot_29_bar__plus_01_dot_35_bar__minus_00_dot_88 - object\n Apple_bar__minus_04_dot_06_bar__plus_00_dot_75_bar__minus_00_dot_49 - object\n 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Bowl_bar__minus_00_dot_49_bar__plus_00_dot_81_bar__minus_03_dot_26)\n (cleanable Lettuce_bar__minus_03_dot_57_bar__plus_00_dot_99_bar__minus_00_dot_38)\n (cleanable Lettuce_bar__minus_01_dot_47_bar__plus_01_dot_03_bar__minus_03_dot_67)\n (cleanable DishSponge_bar__minus_00_dot_54_bar__plus_00_dot_08_bar__minus_01_dot_49)\n (cleanable Plate_bar__minus_00_dot_18_bar__plus_01_dot_95_bar__minus_01_dot_00)\n (cleanable Tomato_bar__minus_00_dot_25_bar__plus_01_dot_34_bar__minus_00_dot_65)\n (cleanable ButterKnife_bar__minus_03_dot_57_bar__plus_00_dot_89_bar__minus_00_dot_29)\n (cleanable Cup_bar__minus_00_dot_55_bar__plus_00_dot_94_bar__minus_01_dot_41)\n (cleanable Apple_bar__minus_04_dot_06_bar__plus_00_dot_75_bar__minus_00_dot_49)\n (cleanable ButterKnife_bar__minus_03_dot_36_bar__plus_00_dot_89_bar__minus_00_dot_29)\n (cleanable Spatula_bar__minus_03_dot_46_bar__plus_00_dot_78_bar__minus_03_dot_31)\n (cleanable Mug_bar__minus_00_dot_25_bar__plus_01_dot_48_bar__minus_00_dot_99)\n (cleanable Spoon_bar__minus_00_dot_58_bar__plus_00_dot_75_bar__minus_02_dot_63)\n \n (heatable Bread_bar__minus_02_dot_56_bar__plus_00_dot_98_bar__minus_00_dot_63)\n (heatable Egg_bar__minus_00_dot_24_bar__plus_00_dot_98_bar__minus_01_dot_32)\n (heatable Apple_bar__minus_00_dot_20_bar__plus_01_dot_64_bar__minus_01_dot_88)\n (heatable Apple_bar__minus_00_dot_29_bar__plus_01_dot_35_bar__minus_00_dot_88)\n (heatable Mug_bar__minus_03_dot_36_bar__plus_00_dot_89_bar__minus_00_dot_12)\n (heatable Bread_bar__minus_03_dot_78_bar__plus_00_dot_84_bar__minus_03_dot_59)\n (heatable Egg_bar__minus_00_dot_19_bar__plus_00_dot_98_bar__minus_03_dot_01)\n (heatable Bread_bar__minus_02_dot_56_bar__plus_00_dot_98_bar__minus_00_dot_38)\n (heatable Egg_bar__minus_02_dot_45_bar__plus_00_dot_14_bar__minus_03_dot_57)\n (heatable Potato_bar__minus_03_dot_20_bar__plus_00_dot_79_bar__minus_03_dot_12)\n (heatable Mug_bar__minus_03_dot_77_bar__plus_00_dot_76_bar__minus_03_dot_76)\n (heatable Plate_bar__minus_00_dot_21_bar__plus_01_dot_52_bar__minus_03_dot_05)\n (heatable Tomato_bar__minus_00_dot_32_bar__plus_01_dot_54_bar__minus_00_dot_30)\n (heatable Potato_bar__minus_03_dot_16_bar__plus_00_dot_93_bar__minus_00_dot_46)\n (heatable Egg_bar__minus_00_dot_16_bar__plus_00_dot_98_bar__minus_01_dot_49)\n (heatable Cup_bar__minus_03_dot_16_bar__plus_00_dot_90_bar__minus_00_dot_29)\n (heatable Plate_bar__minus_00_dot_18_bar__plus_01_dot_95_bar__minus_01_dot_00)\n (heatable Tomato_bar__minus_00_dot_25_bar__plus_01_dot_34_bar__minus_00_dot_65)\n (heatable Cup_bar__minus_00_dot_55_bar__plus_00_dot_94_bar__minus_01_dot_41)\n (heatable Apple_bar__minus_04_dot_06_bar__plus_00_dot_75_bar__minus_00_dot_49)\n (heatable Mug_bar__minus_00_dot_25_bar__plus_01_dot_48_bar__minus_00_dot_99)\n (coolable Bread_bar__minus_02_dot_56_bar__plus_00_dot_98_bar__minus_00_dot_63)\n (coolable Egg_bar__minus_00_dot_24_bar__plus_00_dot_98_bar__minus_01_dot_32)\n (coolable Apple_bar__minus_00_dot_20_bar__plus_01_dot_64_bar__minus_01_dot_88)\n (coolable Apple_bar__minus_00_dot_29_bar__plus_01_dot_35_bar__minus_00_dot_88)\n (coolable Mug_bar__minus_03_dot_36_bar__plus_00_dot_89_bar__minus_00_dot_12)\n (coolable Bread_bar__minus_03_dot_78_bar__plus_00_dot_84_bar__minus_03_dot_59)\n (coolable Egg_bar__minus_00_dot_19_bar__plus_00_dot_98_bar__minus_03_dot_01)\n (coolable Bread_bar__minus_02_dot_56_bar__plus_00_dot_98_bar__minus_00_dot_38)\n (coolable Egg_bar__minus_02_dot_45_bar__plus_00_dot_14_bar__minus_03_dot_57)\n (coolable Potato_bar__minus_03_dot_20_bar__plus_00_dot_79_bar__minus_03_dot_12)\n (coolable Mug_bar__minus_03_dot_77_bar__plus_00_dot_76_bar__minus_03_dot_76)\n (coolable Pot_bar__minus_04_dot_08_bar__plus_00_dot_76_bar__minus_03_dot_23)\n (coolable Plate_bar__minus_00_dot_21_bar__plus_01_dot_52_bar__minus_03_dot_05)\n (coolable Tomato_bar__minus_00_dot_32_bar__plus_01_dot_54_bar__minus_00_dot_30)\n (coolable Potato_bar__minus_03_dot_16_bar__plus_00_dot_93_bar__minus_00_dot_46)\n (coolable Lettuce_bar__minus_03_dot_82_bar__plus_00_dot_85_bar__minus_02_dot_90)\n (coolable Egg_bar__minus_00_dot_16_bar__plus_00_dot_98_bar__minus_01_dot_49)\n (coolable Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_01_dot_85)\n (coolable Cup_bar__minus_03_dot_16_bar__plus_00_dot_90_bar__minus_00_dot_29)\n (coolable Bowl_bar__minus_00_dot_49_bar__plus_00_dot_81_bar__minus_03_dot_26)\n (coolable Lettuce_bar__minus_03_dot_57_bar__plus_00_dot_99_bar__minus_00_dot_38)\n (coolable Lettuce_bar__minus_01_dot_47_bar__plus_01_dot_03_bar__minus_03_dot_67)\n (coolable Plate_bar__minus_00_dot_18_bar__plus_01_dot_95_bar__minus_01_dot_00)\n (coolable Tomato_bar__minus_00_dot_25_bar__plus_01_dot_34_bar__minus_00_dot_65)\n (coolable Cup_bar__minus_00_dot_55_bar__plus_00_dot_94_bar__minus_01_dot_41)\n (coolable Apple_bar__minus_04_dot_06_bar__plus_00_dot_75_bar__minus_00_dot_49)\n (coolable Mug_bar__minus_00_dot_25_bar__plus_01_dot_48_bar__minus_00_dot_99)\n \n \n \n \n \n (sliceable Bread_bar__minus_02_dot_56_bar__plus_00_dot_98_bar__minus_00_dot_63)\n (sliceable Egg_bar__minus_00_dot_24_bar__plus_00_dot_98_bar__minus_01_dot_32)\n (sliceable Apple_bar__minus_00_dot_20_bar__plus_01_dot_64_bar__minus_01_dot_88)\n (sliceable Apple_bar__minus_00_dot_29_bar__plus_01_dot_35_bar__minus_00_dot_88)\n (sliceable Bread_bar__minus_03_dot_78_bar__plus_00_dot_84_bar__minus_03_dot_59)\n (sliceable Egg_bar__minus_00_dot_19_bar__plus_00_dot_98_bar__minus_03_dot_01)\n (sliceable Bread_bar__minus_02_dot_56_bar__plus_00_dot_98_bar__minus_00_dot_38)\n (sliceable Egg_bar__minus_02_dot_45_bar__plus_00_dot_14_bar__minus_03_dot_57)\n (sliceable Potato_bar__minus_03_dot_20_bar__plus_00_dot_79_bar__minus_03_dot_12)\n (sliceable Tomato_bar__minus_00_dot_32_bar__plus_01_dot_54_bar__minus_00_dot_30)\n (sliceable Potato_bar__minus_03_dot_16_bar__plus_00_dot_93_bar__minus_00_dot_46)\n (sliceable Lettuce_bar__minus_03_dot_82_bar__plus_00_dot_85_bar__minus_02_dot_90)\n (sliceable Egg_bar__minus_00_dot_16_bar__plus_00_dot_98_bar__minus_01_dot_49)\n (sliceable Lettuce_bar__minus_03_dot_57_bar__plus_00_dot_99_bar__minus_00_dot_38)\n (sliceable Lettuce_bar__minus_01_dot_47_bar__plus_01_dot_03_bar__minus_03_dot_67)\n (sliceable Tomato_bar__minus_00_dot_25_bar__plus_01_dot_34_bar__minus_00_dot_65)\n (sliceable Apple_bar__minus_04_dot_06_bar__plus_00_dot_75_bar__minus_00_dot_49)\n \n (inReceptacle Fork_bar__minus_00_dot_47_bar__plus_00_dot_94_bar__minus_02_dot_61 CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67)\n (inReceptacle Egg_bar__minus_00_dot_19_bar__plus_00_dot_98_bar__minus_03_dot_01 CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67)\n (inReceptacle Lettuce_bar__minus_01_dot_47_bar__plus_01_dot_03_bar__minus_03_dot_67 CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67)\n (inReceptacle Spatula_bar__minus_01_dot_25_bar__plus_00_dot_96_bar__minus_03_dot_60 CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67)\n (inReceptacle Bread_bar__minus_02_dot_56_bar__plus_00_dot_98_bar__minus_00_dot_38 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Lettuce_bar__minus_03_dot_57_bar__plus_00_dot_99_bar__minus_00_dot_38 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Bread_bar__minus_02_dot_56_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 Potato_bar__minus_03_dot_16_bar__plus_00_dot_93_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_57_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 Mug_bar__minus_03_dot_36_bar__plus_00_dot_89_bar__minus_00_dot_12 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_12 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_29 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Cup_bar__minus_03_dot_16_bar__plus_00_dot_90_bar__minus_00_dot_29 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle DishSponge_bar__minus_03_dot_41_bar__plus_00_dot_76_bar__minus_02_dot_90 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Lettuce_bar__minus_03_dot_82_bar__plus_00_dot_85_bar__minus_02_dot_90 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Potato_bar__minus_03_dot_20_bar__plus_00_dot_79_bar__minus_03_dot_12 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Spatula_bar__minus_03_dot_46_bar__plus_00_dot_78_bar__minus_03_dot_31 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Mug_bar__minus_03_dot_77_bar__plus_00_dot_76_bar__minus_03_dot_76 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Pot_bar__minus_04_dot_08_bar__plus_00_dot_76_bar__minus_03_dot_23 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Bread_bar__minus_03_dot_78_bar__plus_00_dot_84_bar__minus_03_dot_59 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 PepperShaker_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 Spoon_bar__minus_00_dot_58_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 PepperShaker_bar__minus_00_dot_44_bar__plus_00_dot_75_bar__minus_02_dot_85 Drawer_bar__minus_00_dot_48_bar__plus_00_dot_78_bar__minus_02_dot_74)\n (inReceptacle SaltShaker_bar__minus_00_dot_14_bar__plus_01_dot_94_bar__minus_00_dot_77 Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_00_dot_39)\n (inReceptacle Plate_bar__minus_00_dot_18_bar__plus_01_dot_95_bar__minus_01_dot_00 Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_01_dot_27)\n (inReceptacle SoapBottle_bar__minus_00_dot_57_bar__plus_01_dot_50_bar__minus_03_dot_69 Cabinet_bar__minus_00_dot_35_bar__plus_01_dot_89_bar__minus_03_dot_29)\n (inReceptacle DishSponge_bar__minus_00_dot_54_bar__plus_00_dot_08_bar__minus_01_dot_49 Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_01_dot_61)\n (inReceptacle Plate_bar__minus_00_dot_21_bar__plus_01_dot_52_bar__minus_03_dot_05 Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_89_bar__minus_02_dot_51)\n (inReceptacle SoapBottle_bar__minus_04_dot_18_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 Spoon_bar__minus_04_dot_12_bar__plus_00_dot_69_bar__minus_00_dot_25 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_49 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Spoon_bar__minus_04_dot_00_bar__plus_00_dot_69_bar__minus_00_dot_37 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle PepperShaker_bar__minus_04_dot_06_bar__plus_00_dot_69_bar__minus_00_dot_25 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle SoapBottle_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 Egg_bar__minus_00_dot_24_bar__plus_00_dot_98_bar__minus_01_dot_32 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 Egg_bar__minus_00_dot_16_bar__plus_00_dot_98_bar__minus_01_dot_49 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45)\n (inReceptacle Cup_bar__minus_00_dot_55_bar__plus_00_dot_94_bar__minus_01_dot_41 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45)\n (inReceptacle Knife_bar__minus_00_dot_24_bar__plus_00_dot_97_bar__minus_01_dot_45 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45)\n (inReceptacle Egg_bar__minus_02_dot_45_bar__plus_00_dot_14_bar__minus_03_dot_57 GarbageCan_bar__minus_02_dot_42_bar__plus_00_dot_00_bar__minus_03_dot_54)\n (inReceptacle Bowl_bar__minus_00_dot_49_bar__plus_00_dot_81_bar__minus_03_dot_26 Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39_bar_SinkBasin)\n (inReceptacle Tomato_bar__minus_00_dot_25_bar__plus_01_dot_34_bar__minus_00_dot_65 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\n (inReceptacle Mug_bar__minus_00_dot_25_bar__plus_01_dot_48_bar__minus_00_dot_99 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\n (inReceptacle Apple_bar__minus_00_dot_29_bar__plus_01_dot_35_bar__minus_00_dot_88 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\n (inReceptacle Tomato_bar__minus_00_dot_32_bar__plus_01_dot_54_bar__minus_00_dot_30 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\n (inReceptacle Apple_bar__minus_00_dot_20_bar__plus_01_dot_64_bar__minus_01_dot_88 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 Mug_bar__minus_03_dot_77_bar__plus_00_dot_76_bar__minus_03_dot_76 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__minus_01_dot_47_bar__plus_01_dot_03_bar__minus_03_dot_67 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_58_bar__plus_00_dot_75_bar__minus_02_dot_63 loc_bar__minus_5_bar__minus_10_bar_1_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_19_bar__plus_00_dot_98_bar__minus_03_dot_01 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (objectAtLocation Potato_bar__minus_03_dot_16_bar__plus_00_dot_93_bar__minus_00_dot_46 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation DishSponge_bar__minus_00_dot_54_bar__plus_00_dot_08_bar__minus_01_dot_49 loc_bar__minus_6_bar__minus_6_bar_1_bar_60)\n (objectAtLocation Apple_bar__minus_04_dot_06_bar__plus_00_dot_75_bar__minus_00_dot_49 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_29 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation PepperShaker_bar__minus_00_dot_44_bar__plus_00_dot_75_bar__minus_02_dot_85 loc_bar__minus_5_bar__minus_10_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__minus_02_dot_76_bar__plus_00_dot_89_bar__minus_00_dot_12 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Spatula_bar__minus_03_dot_46_bar__plus_00_dot_78_bar__minus_03_dot_31 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Bread_bar__minus_02_dot_56_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_21_bar__plus_01_dot_52_bar__minus_03_dot_05 loc_bar__minus_4_bar__minus_12_bar_1_bar__minus_15)\n (objectAtLocation Tomato_bar__minus_00_dot_25_bar__plus_01_dot_34_bar__minus_00_dot_65 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Cup_bar__minus_00_dot_55_bar__plus_00_dot_94_bar__minus_01_dot_41 loc_bar__minus_4_bar__minus_6_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__minus_04_dot_18_bar__plus_00_dot_69_bar__minus_00_dot_49 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_20_bar__plus_01_dot_64_bar__minus_01_dot_88 loc_bar__minus_4_bar__minus_8_bar_1_bar_15)\n (objectAtLocation Mug_bar__minus_00_dot_25_bar__plus_01_dot_48_bar__minus_00_dot_99 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__minus_04_dot_06_bar__plus_00_dot_69_bar__minus_00_dot_25 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Lettuce_bar__minus_03_dot_57_bar__plus_00_dot_99_bar__minus_00_dot_38 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Bread_bar__minus_02_dot_56_bar__plus_00_dot_98_bar__minus_00_dot_38 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_57_bar__plus_01_dot_50_bar__minus_03_dot_69 loc_bar__minus_4_bar__minus_9_bar_2_bar__minus_15)\n (objectAtLocation Egg_bar__minus_00_dot_16_bar__plus_00_dot_98_bar__minus_01_dot_49 loc_bar__minus_4_bar__minus_6_bar_1_bar_45)\n (objectAtLocation Egg_bar__minus_02_dot_45_bar__plus_00_dot_14_bar__minus_03_dot_57 loc_bar__minus_10_bar__minus_12_bar_2_bar_60)\n (objectAtLocation Spoon_bar__minus_04_dot_12_bar__plus_00_dot_69_bar__minus_00_dot_25 loc_bar__minus_15_bar__minus_5_bar_0_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_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 Pot_bar__minus_04_dot_08_bar__plus_00_dot_76_bar__minus_03_dot_23 loc_bar__minus_14_bar__minus_9_bar_2_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_94_bar__minus_02_dot_61 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (objectAtLocation Cup_bar__minus_03_dot_16_bar__plus_00_dot_90_bar__minus_00_dot_29 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Tomato_bar__minus_00_dot_32_bar__plus_01_dot_54_bar__minus_00_dot_30 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_01_dot_85 loc_bar__minus_4_bar__minus_6_bar_1_bar_45)\n (objectAtLocation Plate_bar__minus_00_dot_18_bar__plus_01_dot_95_bar__minus_01_dot_00 loc_bar__minus_6_bar__minus_6_bar_1_bar__minus_15)\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_78_bar__plus_00_dot_84_bar__minus_03_dot_59 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Spatula_bar__minus_01_dot_25_bar__plus_00_dot_96_bar__minus_03_dot_60 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_24_bar__plus_00_dot_97_bar__minus_01_dot_45 loc_bar__minus_4_bar__minus_6_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_14_bar__plus_01_dot_94_bar__minus_00_dot_77 loc_bar__minus_6_bar__minus_4_bar_1_bar__minus_15)\n (objectAtLocation PepperShaker_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 ButterKnife_bar__minus_03_dot_57_bar__plus_00_dot_89_bar__minus_00_dot_29 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Apple_bar__minus_00_dot_29_bar__plus_01_dot_35_bar__minus_00_dot_88 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation DishSponge_bar__minus_03_dot_41_bar__plus_00_dot_76_bar__minus_02_dot_90 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Potato_bar__minus_03_dot_20_bar__plus_00_dot_79_bar__minus_03_dot_12 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_24_bar__plus_00_dot_98_bar__minus_01_dot_32 loc_bar__minus_4_bar__minus_6_bar_1_bar_45)\n (objectAtLocation Spoon_bar__minus_04_dot_00_bar__plus_00_dot_69_bar__minus_00_dot_37 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Lettuce_bar__minus_03_dot_82_bar__plus_00_dot_85_bar__minus_02_dot_90 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Mug_bar__minus_03_dot_36_bar__plus_00_dot_89_bar__minus_00_dot_12 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_00_dot_49_bar__plus_00_dot_81_bar__minus_03_dot_26 loc_bar__minus_8_bar__minus_11_bar_1_bar_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (heatable ?o)\n (objectType ?o EggType)\n (receptacleType ?r SideTableType)\n (isHot ?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 microwave 1", "heat egg 1 with microwave 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_heat_then_place_in_recep-Egg-None-SideTable-28/trial_T20190908_115607_419115/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-SideTable-28/trial_T20190908_115607_419115/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..ddf30fb999a9e155d7a5d16260a3b0e6f3f251f6 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-SideTable-28/trial_T20190908_115607_419115/initial_state.pddl @@ -0,0 +1,1031 @@ + +(define (problem plan_trial_T20190908_115607_419115) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_20_bar__plus_01_dot_64_bar__minus_01_dot_88 - object + Apple_bar__minus_00_dot_29_bar__plus_01_dot_35_bar__minus_00_dot_88 - object + Apple_bar__minus_04_dot_06_bar__plus_00_dot_75_bar__minus_00_dot_49 - object + Blinds_bar__minus_01_dot_37_bar__plus_02_dot_21_bar__minus_03_dot_96 - object + Bowl_bar__minus_00_dot_49_bar__plus_00_dot_81_bar__minus_03_dot_26 - object + Bread_bar__minus_02_dot_56_bar__plus_00_dot_98_bar__minus_00_dot_38 - object + Bread_bar__minus_02_dot_56_bar__plus_00_dot_98_bar__minus_00_dot_63 - object + 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Fork_bar__minus_00_dot_47_bar__plus_00_dot_94_bar__minus_02_dot_61 - object + Knife_bar__minus_00_dot_24_bar__plus_00_dot_97_bar__minus_01_dot_45 - object + Lettuce_bar__minus_01_dot_47_bar__plus_01_dot_03_bar__minus_03_dot_67 - object + Lettuce_bar__minus_03_dot_57_bar__plus_00_dot_99_bar__minus_00_dot_38 - object + Lettuce_bar__minus_03_dot_82_bar__plus_00_dot_85_bar__minus_02_dot_90 - object + LightSwitch_bar__minus_04_dot_37_bar__plus_01_dot_49_bar__minus_01_dot_03 - object + Mug_bar__minus_00_dot_25_bar__plus_01_dot_48_bar__minus_00_dot_99 - object + Mug_bar__minus_03_dot_36_bar__plus_00_dot_89_bar__minus_00_dot_12 - object + Mug_bar__minus_03_dot_77_bar__plus_00_dot_76_bar__minus_03_dot_76 - object + Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_01_dot_85 - object + PepperShaker_bar__minus_00_dot_44_bar__plus_00_dot_75_bar__minus_02_dot_85 - object + PepperShaker_bar__minus_00_dot_51_bar__plus_00_dot_75_bar__minus_02_dot_63 - object + 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Potato_bar__minus_03_dot_16_bar__plus_00_dot_93_bar__minus_00_dot_46) + (heatable Egg_bar__minus_00_dot_16_bar__plus_00_dot_98_bar__minus_01_dot_49) + (heatable Cup_bar__minus_03_dot_16_bar__plus_00_dot_90_bar__minus_00_dot_29) + (heatable Plate_bar__minus_00_dot_18_bar__plus_01_dot_95_bar__minus_01_dot_00) + (heatable Tomato_bar__minus_00_dot_25_bar__plus_01_dot_34_bar__minus_00_dot_65) + (heatable Cup_bar__minus_00_dot_55_bar__plus_00_dot_94_bar__minus_01_dot_41) + (heatable Apple_bar__minus_04_dot_06_bar__plus_00_dot_75_bar__minus_00_dot_49) + (heatable Mug_bar__minus_00_dot_25_bar__plus_01_dot_48_bar__minus_00_dot_99) + (coolable Bread_bar__minus_02_dot_56_bar__plus_00_dot_98_bar__minus_00_dot_63) + (coolable Egg_bar__minus_00_dot_24_bar__plus_00_dot_98_bar__minus_01_dot_32) + (coolable Apple_bar__minus_00_dot_20_bar__plus_01_dot_64_bar__minus_01_dot_88) + (coolable Apple_bar__minus_00_dot_29_bar__plus_01_dot_35_bar__minus_00_dot_88) + (coolable Mug_bar__minus_03_dot_36_bar__plus_00_dot_89_bar__minus_00_dot_12) + (coolable Bread_bar__minus_03_dot_78_bar__plus_00_dot_84_bar__minus_03_dot_59) + (coolable Egg_bar__minus_00_dot_19_bar__plus_00_dot_98_bar__minus_03_dot_01) + (coolable Bread_bar__minus_02_dot_56_bar__plus_00_dot_98_bar__minus_00_dot_38) + (coolable Egg_bar__minus_02_dot_45_bar__plus_00_dot_14_bar__minus_03_dot_57) + (coolable Potato_bar__minus_03_dot_20_bar__plus_00_dot_79_bar__minus_03_dot_12) + (coolable Mug_bar__minus_03_dot_77_bar__plus_00_dot_76_bar__minus_03_dot_76) + (coolable Pot_bar__minus_04_dot_08_bar__plus_00_dot_76_bar__minus_03_dot_23) + (coolable Plate_bar__minus_00_dot_21_bar__plus_01_dot_52_bar__minus_03_dot_05) + (coolable Tomato_bar__minus_00_dot_32_bar__plus_01_dot_54_bar__minus_00_dot_30) + (coolable Potato_bar__minus_03_dot_16_bar__plus_00_dot_93_bar__minus_00_dot_46) + (coolable Lettuce_bar__minus_03_dot_82_bar__plus_00_dot_85_bar__minus_02_dot_90) + (coolable Egg_bar__minus_00_dot_16_bar__plus_00_dot_98_bar__minus_01_dot_49) + (coolable Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_01_dot_85) + (coolable Cup_bar__minus_03_dot_16_bar__plus_00_dot_90_bar__minus_00_dot_29) + (coolable Bowl_bar__minus_00_dot_49_bar__plus_00_dot_81_bar__minus_03_dot_26) + (coolable Lettuce_bar__minus_03_dot_57_bar__plus_00_dot_99_bar__minus_00_dot_38) + (coolable Lettuce_bar__minus_01_dot_47_bar__plus_01_dot_03_bar__minus_03_dot_67) + (coolable Plate_bar__minus_00_dot_18_bar__plus_01_dot_95_bar__minus_01_dot_00) + (coolable Tomato_bar__minus_00_dot_25_bar__plus_01_dot_34_bar__minus_00_dot_65) + (coolable Cup_bar__minus_00_dot_55_bar__plus_00_dot_94_bar__minus_01_dot_41) + (coolable Apple_bar__minus_04_dot_06_bar__plus_00_dot_75_bar__minus_00_dot_49) + (coolable Mug_bar__minus_00_dot_25_bar__plus_01_dot_48_bar__minus_00_dot_99) + + + + + + (sliceable Bread_bar__minus_02_dot_56_bar__plus_00_dot_98_bar__minus_00_dot_63) + (sliceable Egg_bar__minus_00_dot_24_bar__plus_00_dot_98_bar__minus_01_dot_32) + (sliceable Apple_bar__minus_00_dot_20_bar__plus_01_dot_64_bar__minus_01_dot_88) + (sliceable Apple_bar__minus_00_dot_29_bar__plus_01_dot_35_bar__minus_00_dot_88) + (sliceable Bread_bar__minus_03_dot_78_bar__plus_00_dot_84_bar__minus_03_dot_59) + (sliceable Egg_bar__minus_00_dot_19_bar__plus_00_dot_98_bar__minus_03_dot_01) + (sliceable Bread_bar__minus_02_dot_56_bar__plus_00_dot_98_bar__minus_00_dot_38) + (sliceable Egg_bar__minus_02_dot_45_bar__plus_00_dot_14_bar__minus_03_dot_57) + (sliceable Potato_bar__minus_03_dot_20_bar__plus_00_dot_79_bar__minus_03_dot_12) + (sliceable Tomato_bar__minus_00_dot_32_bar__plus_01_dot_54_bar__minus_00_dot_30) + (sliceable Potato_bar__minus_03_dot_16_bar__plus_00_dot_93_bar__minus_00_dot_46) + (sliceable Lettuce_bar__minus_03_dot_82_bar__plus_00_dot_85_bar__minus_02_dot_90) + (sliceable Egg_bar__minus_00_dot_16_bar__plus_00_dot_98_bar__minus_01_dot_49) + (sliceable Lettuce_bar__minus_03_dot_57_bar__plus_00_dot_99_bar__minus_00_dot_38) + (sliceable Lettuce_bar__minus_01_dot_47_bar__plus_01_dot_03_bar__minus_03_dot_67) + (sliceable Tomato_bar__minus_00_dot_25_bar__plus_01_dot_34_bar__minus_00_dot_65) + (sliceable Apple_bar__minus_04_dot_06_bar__plus_00_dot_75_bar__minus_00_dot_49) + + (inReceptacle Fork_bar__minus_00_dot_47_bar__plus_00_dot_94_bar__minus_02_dot_61 CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67) + (inReceptacle Egg_bar__minus_00_dot_19_bar__plus_00_dot_98_bar__minus_03_dot_01 CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67) + (inReceptacle Lettuce_bar__minus_01_dot_47_bar__plus_01_dot_03_bar__minus_03_dot_67 CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67) + (inReceptacle Spatula_bar__minus_01_dot_25_bar__plus_00_dot_96_bar__minus_03_dot_60 CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67) + (inReceptacle Bread_bar__minus_02_dot_56_bar__plus_00_dot_98_bar__minus_00_dot_38 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44) + (inReceptacle Lettuce_bar__minus_03_dot_57_bar__plus_00_dot_99_bar__minus_00_dot_38 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44) + (inReceptacle Bread_bar__minus_02_dot_56_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) + (inReceptacle Potato_bar__minus_03_dot_16_bar__plus_00_dot_93_bar__minus_00_dot_46 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44) + (inReceptacle ButterKnife_bar__minus_03_dot_57_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) + (inReceptacle Mug_bar__minus_03_dot_36_bar__plus_00_dot_89_bar__minus_00_dot_12 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44) + (inReceptacle SaltShaker_bar__minus_02_dot_76_bar__plus_00_dot_89_bar__minus_00_dot_12 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44) + (inReceptacle ButterKnife_bar__minus_03_dot_36_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) + (inReceptacle Cup_bar__minus_03_dot_16_bar__plus_00_dot_90_bar__minus_00_dot_29 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44) + (inReceptacle DishSponge_bar__minus_03_dot_41_bar__plus_00_dot_76_bar__minus_02_dot_90 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32) + (inReceptacle Lettuce_bar__minus_03_dot_82_bar__plus_00_dot_85_bar__minus_02_dot_90 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32) + (inReceptacle Potato_bar__minus_03_dot_20_bar__plus_00_dot_79_bar__minus_03_dot_12 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32) + (inReceptacle Spatula_bar__minus_03_dot_46_bar__plus_00_dot_78_bar__minus_03_dot_31 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32) + (inReceptacle Mug_bar__minus_03_dot_77_bar__plus_00_dot_76_bar__minus_03_dot_76 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32) + (inReceptacle Pot_bar__minus_04_dot_08_bar__plus_00_dot_76_bar__minus_03_dot_23 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32) + (inReceptacle Bread_bar__minus_03_dot_78_bar__plus_00_dot_84_bar__minus_03_dot_59 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32) + (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) + (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) + (inReceptacle PepperShaker_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) + (inReceptacle Spoon_bar__minus_00_dot_58_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) + (inReceptacle PepperShaker_bar__minus_00_dot_44_bar__plus_00_dot_75_bar__minus_02_dot_85 Drawer_bar__minus_00_dot_48_bar__plus_00_dot_78_bar__minus_02_dot_74) + (inReceptacle SaltShaker_bar__minus_00_dot_14_bar__plus_01_dot_94_bar__minus_00_dot_77 Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_00_dot_39) + (inReceptacle Plate_bar__minus_00_dot_18_bar__plus_01_dot_95_bar__minus_01_dot_00 Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_01_dot_27) + (inReceptacle SoapBottle_bar__minus_00_dot_57_bar__plus_01_dot_50_bar__minus_03_dot_69 Cabinet_bar__minus_00_dot_35_bar__plus_01_dot_89_bar__minus_03_dot_29) + (inReceptacle DishSponge_bar__minus_00_dot_54_bar__plus_00_dot_08_bar__minus_01_dot_49 Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_01_dot_61) + (inReceptacle Plate_bar__minus_00_dot_21_bar__plus_01_dot_52_bar__minus_03_dot_05 Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_89_bar__minus_02_dot_51) + (inReceptacle SoapBottle_bar__minus_04_dot_18_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 Spoon_bar__minus_04_dot_12_bar__plus_00_dot_69_bar__minus_00_dot_25 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31) + (inReceptacle Apple_bar__minus_04_dot_06_bar__plus_00_dot_75_bar__minus_00_dot_49 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31) + (inReceptacle Spoon_bar__minus_04_dot_00_bar__plus_00_dot_69_bar__minus_00_dot_37 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31) + (inReceptacle PepperShaker_bar__minus_04_dot_06_bar__plus_00_dot_69_bar__minus_00_dot_25 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31) + (inReceptacle SoapBottle_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 Egg_bar__minus_00_dot_24_bar__plus_00_dot_98_bar__minus_01_dot_32 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 Egg_bar__minus_00_dot_16_bar__plus_00_dot_98_bar__minus_01_dot_49 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45) + (inReceptacle Cup_bar__minus_00_dot_55_bar__plus_00_dot_94_bar__minus_01_dot_41 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45) + (inReceptacle Knife_bar__minus_00_dot_24_bar__plus_00_dot_97_bar__minus_01_dot_45 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45) + (inReceptacle Egg_bar__minus_02_dot_45_bar__plus_00_dot_14_bar__minus_03_dot_57 GarbageCan_bar__minus_02_dot_42_bar__plus_00_dot_00_bar__minus_03_dot_54) + (inReceptacle Bowl_bar__minus_00_dot_49_bar__plus_00_dot_81_bar__minus_03_dot_26 Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39_bar_SinkBasin) + (inReceptacle Tomato_bar__minus_00_dot_25_bar__plus_01_dot_34_bar__minus_00_dot_65 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65) + (inReceptacle Mug_bar__minus_00_dot_25_bar__plus_01_dot_48_bar__minus_00_dot_99 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65) + (inReceptacle Apple_bar__minus_00_dot_29_bar__plus_01_dot_35_bar__minus_00_dot_88 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65) + (inReceptacle Tomato_bar__minus_00_dot_32_bar__plus_01_dot_54_bar__minus_00_dot_30 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65) + (inReceptacle Apple_bar__minus_00_dot_20_bar__plus_01_dot_64_bar__minus_01_dot_88 Microwave_bar__minus_00_dot_22_bar__plus_01_dot_47_bar__minus_02_dot_06) + + + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (receptacleAtLocation CoffeeMachine_bar__minus_02_dot_51_bar__plus_00_dot_93_bar__minus_03_dot_80 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"task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1ELPYAFO7MANS_30OG32W0SX2ZGELBTQWHGEF8AK6NE2", + "high_descs": [ + "Turn left and walk to the left side of the sink.", + "Pick up the egg on the counter, the one to the right of the other egg.", + "Take a step right and look up at the microwave.", + "Heat the egg in the microwave.", + "Turn around and go straight, veering right to the square black table in the corner of the room.", + "Place the egg on the table in the front right corner." + ], + "task_desc": "Place a heated egg on a table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3BWI6RSP7J0ADTTODJFSKHTIA5CE7T", + "high_descs": [ + "Turn around and go to the right to stand in front of the counter to the left of the stove.", + "Pick the egg on the right side up from the counter.", + "Move to the right and face the microwave.", + "Put the egg in the microwave and shut the door and then open the door and take the egg out and shut the door again.", + "Turn around and cross the room and go to the right to stand in front of the small black table next to the white table.", + "Put the egg on the table." + ], + "task_desc": "Put a heated egg on a table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3SFPSMFRSRTB3_3HYA4D452UAVX6WE2II368XABQAF21", + "high_descs": [ + "Turn around, go straight until counter between stove and refrigerator is to the right. Turn right to face counter.", + "Remove right egg from counter, behind pan.", + "Turn right, go to stove, turn left to face stove.", + "Open microwave, put egg in microwave to right of apple, close microwave. Wait four seconds, open microwave, remove egg, close microwave.", + "Turn around, proceed to wall. Turn right, proceed to table.", + "Place egg on lower right corner of table, to the right of the apple." + ], + "task_desc": "Heat microwave, move to 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-SideTable-28/trial_T20190908_115647_059946/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-SideTable-28/trial_T20190908_115647_059946/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..008862f73a18b92e75295df9c9f249fe3c8d29a6 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-SideTable-28/trial_T20190908_115647_059946/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 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_115647_059946)\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_64_bar__minus_01_dot_88 - object\n Apple_bar__minus_04_dot_18_bar__plus_00_dot_75_bar__minus_00_dot_43 - object\n Blinds_bar__minus_01_dot_37_bar__plus_02_dot_21_bar__minus_03_dot_96 - object\n 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Fork_bar__minus_03_dot_88_bar__plus_00_dot_69_bar__minus_00_dot_43 - object\n Knife_bar__minus_03_dot_36_bar__plus_00_dot_92_bar__minus_00_dot_20 - object\n Lettuce_bar__minus_03_dot_76_bar__plus_00_dot_85_bar__minus_03_dot_04 - object\n LightSwitch_bar__minus_04_dot_37_bar__plus_01_dot_49_bar__minus_01_dot_03 - object\n Mug_bar__minus_00_dot_20_bar__plus_01_dot_57_bar__minus_02_dot_04 - object\n Mug_bar__minus_03_dot_83_bar__plus_00_dot_76_bar__minus_03_dot_74 - object\n Pan_bar__minus_00_dot_33_bar__plus_01_dot_28_bar__minus_00_dot_53 - object\n Pan_bar__minus_03_dot_36_bar__plus_00_dot_89_bar__minus_00_dot_38 - object\n PepperShaker_bar__minus_00_dot_24_bar__plus_00_dot_94_bar__minus_01_dot_32 - object\n PepperShaker_bar__minus_01_dot_25_bar__plus_00_dot_94_bar__minus_03_dot_75 - object\n Plate_bar__minus_02_dot_56_bar__plus_00_dot_91_bar__minus_00_dot_29 - object\n Plate_bar__minus_03_dot_53_bar__plus_00_dot_77_bar__minus_02_dot_86 - object\n Plate_bar__minus_03_dot_93_bar__plus_00_dot_77_bar__minus_03_dot_40 - object\n Potato_bar__minus_00_dot_40_bar__plus_01_dot_52_bar__minus_00_dot_99 - object\n Potato_bar__minus_00_dot_62_bar__plus_00_dot_85_bar__minus_03_dot_47 - object\n Pot_bar__minus_00_dot_44_bar__plus_00_dot_96_bar__minus_01_dot_85 - object\n Pot_bar__minus_03_dot_33_bar__plus_00_dot_76_bar__minus_03_dot_42 - object\n SaltShaker_bar__minus_00_dot_13_bar__plus_01_dot_94_bar__minus_02_dot_00 - object\n Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39 - object\n SoapBottle_bar__minus_00_dot_21_bar__plus_01_dot_50_bar__minus_03_dot_14 - object\n Spatula_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__minus_03_dot_57 - object\n Spoon_bar__minus_00_dot_51_bar__plus_00_dot_75_bar__minus_02_dot_85 - object\n Spoon_bar__minus_01_dot_47_bar__plus_00_dot_94_bar__minus_03_dot_75 - object\n Spoon_bar__minus_04_dot_00_bar__plus_00_dot_69_bar__minus_00_dot_37 - 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_00_dot_28_bar__plus_01_dot_54_bar__minus_00_dot_88 - object\n Tomato_bar__minus_04_dot_12_bar__plus_00_dot_74_bar__minus_00_dot_31 - 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 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45 - receptacle\n CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67 - receptacle\n DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44 - receptacle\n DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32 - receptacle\n 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StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_02_dot_24 - receptacle\n Toaster_bar__minus_01_dot_97_bar__plus_00_dot_93_bar__minus_03_dot_76 - receptacle\n loc_bar__minus_6_bar__minus_12_bar_2_bar_0 - location\n loc_bar__minus_6_bar__minus_4_bar_1_bar__minus_15 - location\n loc_bar__minus_8_bar__minus_11_bar_1_bar_30 - location\n loc_bar__minus_4_bar__minus_6_bar_1_bar_45 - location\n loc_bar__minus_6_bar__minus_12_bar_2_bar_45 - location\n loc_bar__minus_5_bar__minus_3_bar_1_bar_60 - location\n loc_bar__minus_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_13_bar__minus_5_bar_2_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 Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39_bar_SinkBasin SinkBasinType)\n (receptacleType DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44 DiningTableType)\n (receptacleType Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_00_dot_39 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_89_bar__minus_02_dot_51 CabinetType)\n (receptacleType CoffeeMachine_bar__minus_02_dot_51_bar__plus_00_dot_93_bar__minus_03_dot_80 CoffeeMachineType)\n (receptacleType Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_02_dot_50 CabinetType)\n (receptacleType CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45 CounterTopType)\n (receptacleType Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_01_dot_27 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_01_dot_61 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_03_dot_01 CabinetType)\n (receptacleType StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_85 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_02_dot_51 CabinetType)\n (receptacleType Drawer_bar__minus_01_dot_15_bar__plus_00_dot_78_bar__minus_03_dot_50 DrawerType)\n (receptacleType 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Spoon_bar__minus_01_dot_47_bar__plus_00_dot_94_bar__minus_03_dot_75 CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67)\n (inReceptacle Fork_bar__minus_02_dot_96_bar__plus_00_dot_90_bar__minus_00_dot_55 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Plate_bar__minus_02_dot_56_bar__plus_00_dot_91_bar__minus_00_dot_29 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Bread_bar__minus_02_dot_98_bar__plus_00_dot_96_bar__minus_00_dot_31 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Knife_bar__minus_03_dot_36_bar__plus_00_dot_92_bar__minus_00_dot_20 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Pan_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 Egg_bar__minus_02_dot_56_bar__plus_00_dot_94_bar__minus_00_dot_55 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Mug_bar__minus_03_dot_83_bar__plus_00_dot_76_bar__minus_03_dot_74 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Plate_bar__minus_03_dot_53_bar__plus_00_dot_77_bar__minus_02_dot_86 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Lettuce_bar__minus_03_dot_76_bar__plus_00_dot_85_bar__minus_03_dot_04 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Pot_bar__minus_03_dot_33_bar__plus_00_dot_76_bar__minus_03_dot_42 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Plate_bar__minus_03_dot_93_bar__plus_00_dot_77_bar__minus_03_dot_40 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Pot_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 Pot_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 Spoon_bar__minus_00_dot_51_bar__plus_00_dot_75_bar__minus_02_dot_85 Drawer_bar__minus_00_dot_48_bar__plus_00_dot_78_bar__minus_02_dot_74)\n (inReceptacle SaltShaker_bar__minus_00_dot_13_bar__plus_01_dot_94_bar__minus_02_dot_00 Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_01_dot_63)\n (inReceptacle DishSponge_bar__minus_00_dot_50_bar__plus_01_dot_50_bar__minus_03_dot_68 Cabinet_bar__minus_00_dot_35_bar__plus_01_dot_89_bar__minus_03_dot_29)\n (inReceptacle SoapBottle_bar__minus_00_dot_21_bar__plus_01_dot_50_bar__minus_03_dot_14 Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_89_bar__minus_02_dot_51)\n (inReceptacle Tomato_bar__minus_04_dot_12_bar__plus_00_dot_74_bar__minus_00_dot_31 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_43 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Fork_bar__minus_03_dot_88_bar__plus_00_dot_69_bar__minus_00_dot_43 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Spoon_bar__minus_04_dot_00_bar__plus_00_dot_69_bar__minus_00_dot_37 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Cup_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 Cup_bar__minus_00_dot_16_bar__plus_00_dot_94_bar__minus_01_dot_54 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45)\n (inReceptacle DishSponge_bar__minus_00_dot_47_bar__plus_00_dot_94_bar__minus_01_dot_41 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45)\n (inReceptacle ButterKnife_bar__minus_00_dot_39_bar__plus_00_dot_94_bar__minus_01_dot_32 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45)\n (inReceptacle PepperShaker_bar__minus_00_dot_24_bar__plus_00_dot_94_bar__minus_01_dot_32 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45)\n (inReceptacle Potato_bar__minus_00_dot_62_bar__plus_00_dot_85_bar__minus_03_dot_47 Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39_bar_SinkBasin)\n (inReceptacle Spatula_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__minus_03_dot_57 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_32_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 Bowl_bar__minus_00_dot_38_bar__plus_01_dot_28_bar__minus_00_dot_30 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\n (inReceptacle Pan_bar__minus_00_dot_33_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 Potato_bar__minus_00_dot_40_bar__plus_01_dot_52_bar__minus_00_dot_99 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\n (inReceptacle Tomato_bar__minus_00_dot_28_bar__plus_01_dot_54_bar__minus_00_dot_88 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\n (inReceptacle Apple_bar__minus_00_dot_17_bar__plus_01_dot_64_bar__minus_01_dot_88 Microwave_bar__minus_00_dot_22_bar__plus_01_dot_47_bar__minus_02_dot_06)\n (inReceptacle Mug_bar__minus_00_dot_20_bar__plus_01_dot_57_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 Mug_bar__minus_00_dot_20_bar__plus_01_dot_57_bar__minus_02_dot_04 loc_bar__minus_4_bar__minus_8_bar_1_bar_15)\n (objectAtLocation Spoon_bar__minus_04_dot_00_bar__plus_00_dot_69_bar__minus_00_dot_37 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_40_bar__plus_01_dot_52_bar__minus_00_dot_99 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation DishSponge_bar__minus_00_dot_47_bar__plus_00_dot_94_bar__minus_01_dot_41 loc_bar__minus_4_bar__minus_6_bar_1_bar_45)\n (objectAtLocation Apple_bar__minus_04_dot_18_bar__plus_00_dot_75_bar__minus_00_dot_43 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_39_bar__plus_00_dot_94_bar__minus_01_dot_32 loc_bar__minus_4_bar__minus_6_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__minus_01_dot_25_bar__plus_00_dot_94_bar__minus_03_dot_75 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (objectAtLocation Plate_bar__minus_02_dot_56_bar__plus_00_dot_91_bar__minus_00_dot_29 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Pan_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 Tomato_bar__minus_04_dot_12_bar__plus_00_dot_74_bar__minus_00_dot_31 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Cup_bar__minus_00_dot_16_bar__plus_00_dot_94_bar__minus_01_dot_54 loc_bar__minus_4_bar__minus_6_bar_1_bar_45)\n (objectAtLocation Fork_bar__minus_03_dot_88_bar__plus_00_dot_69_bar__minus_00_dot_43 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Pot_bar__minus_00_dot_44_bar__plus_00_dot_96_bar__minus_01_dot_85 loc_bar__minus_4_bar__minus_7_bar_1_bar_45)\n (objectAtLocation Plate_bar__minus_03_dot_53_bar__plus_00_dot_77_bar__minus_02_dot_86 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Cup_bar__minus_00_dot_32_bar__plus_01_dot_49_bar__minus_00_dot_41 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Spoon_bar__minus_01_dot_47_bar__plus_00_dot_94_bar__minus_03_dot_75 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_00_dot_21_bar__plus_01_dot_50_bar__minus_03_dot_14 loc_bar__minus_4_bar__minus_12_bar_1_bar__minus_15)\n (objectAtLocation Pot_bar__minus_03_dot_33_bar__plus_00_dot_76_bar__minus_03_dot_42 loc_bar__minus_14_bar__minus_9_bar_2_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_02_dot_96_bar__plus_00_dot_90_bar__minus_00_dot_55 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Cup_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 Tomato_bar__minus_00_dot_28_bar__plus_01_dot_54_bar__minus_00_dot_88 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Pan_bar__minus_00_dot_33_bar__plus_01_dot_28_bar__minus_00_dot_53 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Plate_bar__minus_03_dot_93_bar__plus_00_dot_77_bar__minus_03_dot_40 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_02_dot_98_bar__plus_00_dot_96_bar__minus_00_dot_31 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Spatula_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__minus_03_dot_57 loc_bar__minus_8_bar__minus_11_bar_1_bar_30)\n (objectAtLocation Knife_bar__minus_03_dot_36_bar__plus_00_dot_92_bar__minus_00_dot_20 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation SaltShaker_bar__minus_00_dot_13_bar__plus_01_dot_94_bar__minus_02_dot_00 loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_30)\n (objectAtLocation PepperShaker_bar__minus_00_dot_24_bar__plus_00_dot_94_bar__minus_01_dot_32 loc_bar__minus_4_bar__minus_6_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__minus_02_dot_14_bar__plus_00_dot_94_bar__minus_03_dot_75 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_17_bar__plus_01_dot_64_bar__minus_01_dot_88 loc_bar__minus_4_bar__minus_8_bar_1_bar_15)\n (objectAtLocation DishSponge_bar__minus_00_dot_50_bar__plus_01_dot_50_bar__minus_03_dot_68 loc_bar__minus_4_bar__minus_9_bar_2_bar__minus_15)\n (objectAtLocation Potato_bar__minus_00_dot_62_bar__plus_00_dot_85_bar__minus_03_dot_47 loc_bar__minus_8_bar__minus_11_bar_1_bar_30)\n (objectAtLocation Egg_bar__minus_02_dot_56_bar__plus_00_dot_94_bar__minus_00_dot_55 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Spoon_bar__minus_00_dot_51_bar__plus_00_dot_75_bar__minus_02_dot_85 loc_bar__minus_5_bar__minus_10_bar_1_bar_45)\n (objectAtLocation Lettuce_bar__minus_03_dot_76_bar__plus_00_dot_85_bar__minus_03_dot_04 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Mug_bar__minus_03_dot_83_bar__plus_00_dot_76_bar__minus_03_dot_74 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\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_38_bar__plus_01_dot_28_bar__minus_00_dot_30 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 EggType)\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 egg 1 from diningtable 2", "go to microwave 1", "heat egg 1 with microwave 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_heat_then_place_in_recep-Egg-None-SideTable-28/trial_T20190908_115647_059946/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-SideTable-28/trial_T20190908_115647_059946/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..1337095bfe1275aa5728ee810ead6da11fb85311 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-SideTable-28/trial_T20190908_115647_059946/initial_state.pddl @@ -0,0 +1,967 @@ + +(define (problem plan_trial_T20190908_115647_059946) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_64_bar__minus_01_dot_88 - object + Apple_bar__minus_04_dot_18_bar__plus_00_dot_75_bar__minus_00_dot_43 - object + Blinds_bar__minus_01_dot_37_bar__plus_02_dot_21_bar__minus_03_dot_96 - object + Bowl_bar__minus_00_dot_38_bar__plus_01_dot_28_bar__minus_00_dot_30 - object + Bread_bar__minus_02_dot_98_bar__plus_00_dot_96_bar__minus_00_dot_31 - object + ButterKnife_bar__minus_00_dot_39_bar__plus_00_dot_94_bar__minus_01_dot_32 - object + ButterKnife_bar__minus_02_dot_14_bar__plus_00_dot_94_bar__minus_03_dot_75 - object + Cup_bar__minus_00_dot_16_bar__plus_00_dot_94_bar__minus_01_dot_54 - object + Cup_bar__minus_00_dot_32_bar__plus_01_dot_49_bar__minus_00_dot_41 - object + Cup_bar__minus_03_dot_94_bar__plus_00_dot_69_bar__minus_00_dot_19 - object + DishSponge_bar__minus_00_dot_47_bar__plus_00_dot_94_bar__minus_01_dot_41 - object + DishSponge_bar__minus_00_dot_50_bar__plus_01_dot_50_bar__minus_03_dot_68 - object + Egg_bar__minus_02_dot_56_bar__plus_00_dot_94_bar__minus_00_dot_55 - object + Faucet_bar__minus_00_dot_39_bar__plus_00_dot_93_bar__minus_03_dot_61 - object + Fork_bar__minus_02_dot_96_bar__plus_00_dot_90_bar__minus_00_dot_55 - object + Fork_bar__minus_03_dot_88_bar__plus_00_dot_69_bar__minus_00_dot_43 - object + Knife_bar__minus_03_dot_36_bar__plus_00_dot_92_bar__minus_00_dot_20 - object + Lettuce_bar__minus_03_dot_76_bar__plus_00_dot_85_bar__minus_03_dot_04 - object + LightSwitch_bar__minus_04_dot_37_bar__plus_01_dot_49_bar__minus_01_dot_03 - object + Mug_bar__minus_00_dot_20_bar__plus_01_dot_57_bar__minus_02_dot_04 - object + Mug_bar__minus_03_dot_83_bar__plus_00_dot_76_bar__minus_03_dot_74 - object + Pan_bar__minus_00_dot_33_bar__plus_01_dot_28_bar__minus_00_dot_53 - object + Pan_bar__minus_03_dot_36_bar__plus_00_dot_89_bar__minus_00_dot_38 - object + PepperShaker_bar__minus_00_dot_24_bar__plus_00_dot_94_bar__minus_01_dot_32 - object + PepperShaker_bar__minus_01_dot_25_bar__plus_00_dot_94_bar__minus_03_dot_75 - object + Plate_bar__minus_02_dot_56_bar__plus_00_dot_91_bar__minus_00_dot_29 - object + Plate_bar__minus_03_dot_53_bar__plus_00_dot_77_bar__minus_02_dot_86 - object + Plate_bar__minus_03_dot_93_bar__plus_00_dot_77_bar__minus_03_dot_40 - object + Potato_bar__minus_00_dot_40_bar__plus_01_dot_52_bar__minus_00_dot_99 - object + Potato_bar__minus_00_dot_62_bar__plus_00_dot_85_bar__minus_03_dot_47 - object + Pot_bar__minus_00_dot_44_bar__plus_00_dot_96_bar__minus_01_dot_85 - object + Pot_bar__minus_03_dot_33_bar__plus_00_dot_76_bar__minus_03_dot_42 - object + SaltShaker_bar__minus_00_dot_13_bar__plus_01_dot_94_bar__minus_02_dot_00 - object + Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39 - object + SoapBottle_bar__minus_00_dot_21_bar__plus_01_dot_50_bar__minus_03_dot_14 - object + Spatula_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__minus_03_dot_57 - object + Spoon_bar__minus_00_dot_51_bar__plus_00_dot_75_bar__minus_02_dot_85 - object + Spoon_bar__minus_01_dot_47_bar__plus_00_dot_94_bar__minus_03_dot_75 - object + Spoon_bar__minus_04_dot_00_bar__plus_00_dot_69_bar__minus_00_dot_37 - 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_28_bar__plus_01_dot_54_bar__minus_00_dot_88 - object + Tomato_bar__minus_04_dot_12_bar__plus_00_dot_74_bar__minus_00_dot_31 - 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 + loc_bar__minus_4_bar__minus_7_bar_1_bar_45 - location + loc_bar__minus_6_bar__minus_9_bar_1_bar_60 - location + loc_bar__minus_5_bar__minus_10_bar_1_bar_45 - location + loc_bar__minus_14_bar__minus_9_bar_2_bar_45 - location + loc_bar__minus_4_bar__minus_6_bar_1_bar__minus_15 - location + loc_bar__minus_6_bar__minus_6_bar_1_bar__minus_15 - location + loc_bar__minus_4_bar__minus_9_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_7_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30 - location + loc_bar__minus_15_bar__minus_4_bar_3_bar_15 - location + loc_bar__minus_8_bar__minus_12_bar_2_bar_45 - location + loc_bar__minus_10_bar__minus_12_bar_2_bar_45 - 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_4_bar__minus_9_bar_2_bar__minus_15 - location + loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_30 - location + loc_bar__minus_15_bar__minus_5_bar_0_bar_45 - location + 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_13_bar__minus_5_bar_2_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) + (receptacleType CoffeeMachine_bar__minus_02_dot_51_bar__plus_00_dot_93_bar__minus_03_dot_80 CoffeeMachineType) + (receptacleType 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ButterKnife_bar__minus_02_dot_14_bar__plus_00_dot_94_bar__minus_03_dot_75) + (cleanable ButterKnife_bar__minus_00_dot_39_bar__plus_00_dot_94_bar__minus_01_dot_32) + (cleanable Potato_bar__minus_00_dot_40_bar__plus_01_dot_52_bar__minus_00_dot_99) + (cleanable Pan_bar__minus_03_dot_36_bar__plus_00_dot_89_bar__minus_00_dot_38) + (cleanable Pan_bar__minus_00_dot_33_bar__plus_01_dot_28_bar__minus_00_dot_53) + (cleanable Tomato_bar__minus_00_dot_28_bar__plus_01_dot_54_bar__minus_00_dot_88) + (cleanable Egg_bar__minus_02_dot_56_bar__plus_00_dot_94_bar__minus_00_dot_55) + (cleanable Tomato_bar__minus_04_dot_12_bar__plus_00_dot_74_bar__minus_00_dot_31) + (cleanable Fork_bar__minus_02_dot_96_bar__plus_00_dot_90_bar__minus_00_dot_55) + (cleanable DishSponge_bar__minus_00_dot_50_bar__plus_01_dot_50_bar__minus_03_dot_68) + (cleanable Spoon_bar__minus_00_dot_51_bar__plus_00_dot_75_bar__minus_02_dot_85) + (cleanable Mug_bar__minus_00_dot_20_bar__plus_01_dot_57_bar__minus_02_dot_04) + (cleanable Cup_bar__minus_00_dot_16_bar__plus_00_dot_94_bar__minus_01_dot_54) + (cleanable Apple_bar__minus_00_dot_17_bar__plus_01_dot_64_bar__minus_01_dot_88) + (cleanable Spoon_bar__minus_04_dot_00_bar__plus_00_dot_69_bar__minus_00_dot_37) + (cleanable Pot_bar__minus_03_dot_33_bar__plus_00_dot_76_bar__minus_03_dot_42) + (cleanable Cup_bar__minus_00_dot_32_bar__plus_01_dot_49_bar__minus_00_dot_41) + (cleanable Plate_bar__minus_03_dot_53_bar__plus_00_dot_77_bar__minus_02_dot_86) + (cleanable Cup_bar__minus_03_dot_94_bar__plus_00_dot_69_bar__minus_00_dot_19) + (cleanable DishSponge_bar__minus_00_dot_47_bar__plus_00_dot_94_bar__minus_01_dot_41) + + (heatable Potato_bar__minus_00_dot_62_bar__plus_00_dot_85_bar__minus_03_dot_47) + (heatable Plate_bar__minus_03_dot_93_bar__plus_00_dot_77_bar__minus_03_dot_40) + (heatable Apple_bar__minus_04_dot_18_bar__plus_00_dot_75_bar__minus_00_dot_43) + (heatable Plate_bar__minus_02_dot_56_bar__plus_00_dot_91_bar__minus_00_dot_29) + (heatable 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Apple_bar__minus_04_dot_18_bar__plus_00_dot_75_bar__minus_00_dot_43) + (sliceable Potato_bar__minus_00_dot_40_bar__plus_01_dot_52_bar__minus_00_dot_99) + (sliceable Tomato_bar__minus_00_dot_28_bar__plus_01_dot_54_bar__minus_00_dot_88) + (sliceable Egg_bar__minus_02_dot_56_bar__plus_00_dot_94_bar__minus_00_dot_55) + (sliceable Tomato_bar__minus_04_dot_12_bar__plus_00_dot_74_bar__minus_00_dot_31) + (sliceable Bread_bar__minus_02_dot_98_bar__plus_00_dot_96_bar__minus_00_dot_31) + (sliceable Apple_bar__minus_00_dot_17_bar__plus_01_dot_64_bar__minus_01_dot_88) + + (inReceptacle ButterKnife_bar__minus_02_dot_14_bar__plus_00_dot_94_bar__minus_03_dot_75 CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67) + (inReceptacle PepperShaker_bar__minus_01_dot_25_bar__plus_00_dot_94_bar__minus_03_dot_75 CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67) + (inReceptacle Spoon_bar__minus_01_dot_47_bar__plus_00_dot_94_bar__minus_03_dot_75 CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67) + (inReceptacle Fork_bar__minus_02_dot_96_bar__plus_00_dot_90_bar__minus_00_dot_55 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44) + (inReceptacle Plate_bar__minus_02_dot_56_bar__plus_00_dot_91_bar__minus_00_dot_29 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44) + (inReceptacle Bread_bar__minus_02_dot_98_bar__plus_00_dot_96_bar__minus_00_dot_31 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44) + (inReceptacle Knife_bar__minus_03_dot_36_bar__plus_00_dot_92_bar__minus_00_dot_20 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44) + (inReceptacle Pan_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) + (inReceptacle Egg_bar__minus_02_dot_56_bar__plus_00_dot_94_bar__minus_00_dot_55 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44) + (inReceptacle Mug_bar__minus_03_dot_83_bar__plus_00_dot_76_bar__minus_03_dot_74 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32) + (inReceptacle Plate_bar__minus_03_dot_53_bar__plus_00_dot_77_bar__minus_02_dot_86 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32) + (inReceptacle Lettuce_bar__minus_03_dot_76_bar__plus_00_dot_85_bar__minus_03_dot_04 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32) + (inReceptacle Pot_bar__minus_03_dot_33_bar__plus_00_dot_76_bar__minus_03_dot_42 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32) + (inReceptacle Plate_bar__minus_03_dot_93_bar__plus_00_dot_77_bar__minus_03_dot_40 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32) + (inReceptacle Pot_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) + (inReceptacle Pot_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) + (inReceptacle Spoon_bar__minus_00_dot_51_bar__plus_00_dot_75_bar__minus_02_dot_85 Drawer_bar__minus_00_dot_48_bar__plus_00_dot_78_bar__minus_02_dot_74) + (inReceptacle SaltShaker_bar__minus_00_dot_13_bar__plus_01_dot_94_bar__minus_02_dot_00 Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_01_dot_63) + (inReceptacle DishSponge_bar__minus_00_dot_50_bar__plus_01_dot_50_bar__minus_03_dot_68 Cabinet_bar__minus_00_dot_35_bar__plus_01_dot_89_bar__minus_03_dot_29) + (inReceptacle SoapBottle_bar__minus_00_dot_21_bar__plus_01_dot_50_bar__minus_03_dot_14 Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_89_bar__minus_02_dot_51) + (inReceptacle Tomato_bar__minus_04_dot_12_bar__plus_00_dot_74_bar__minus_00_dot_31 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"x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Bowl_1f51c27f", + "position": { + "x": -0.376193166, + "y": 1.28490734, + "z": -0.297067046 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3856107046, + "scene_num": 28 + }, + "task_id": "trial_T20190908_115647_059946", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2871R3LEPWMMK_3JMSRU9HQLLCOJUKVHI8QV9LWOVEVZ", + "high_descs": [ + "Turn around and walk to the white table ahead.", + "Pick up the egg on the table in front of the gray plate.", + "Turn around and walk to the stove on the left.", + "Put the egg inside the microwave in between the tomato and the mug, heat it for a few seconds, remove it and close the door.", + "Turn around and hang a right at the door to reach the small black table.", + "Put the heated egg on the right corner of the table to the left of the fork." + ], + "task_desc": "Place a heated egg on a table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1MKCTVKE7J0ZP_3PJUZCGDJ97XIB7QFDRC63O2USS98R", + "high_descs": [ + "Turn around and go to the white table behind you.", + "Pick up the egg on the white table, next to the plate.", + "Turn around, go forward and then turn left to go toward the stove, then look up the microwave.", + "Open the microwave, put the egg inside and cook it, then take it out.", + "Turn around, go straight to the door, then turn right to go to the black table.", + "Put the egg on the black table." + ], + "task_desc": "Put a cooked egg on the black table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A24RGLS3BRZ60J_3YT88D1N0BPVYAKB7TN55VU7P09K31", + "high_descs": [ + "Turn around and face the white table.", + "Pick up the egg from in front of the plate on the white table.", + "Carry the egg and turn around, then left to find the stove. ", + "Open the microwave above the stove and place the egg inside. Shut the door, then open it again. Take the egg out and shut the door.", + "Carry the egg and turn around and then find the small black table to the right.", + "Place the egg on the top right corner of the table." + ], + "task_desc": "Heat an egg 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_heat_then_place_in_recep-Plate-None-DiningTable-28/trial_T20190908_001313_828023/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Plate-None-DiningTable-28/trial_T20190908_001313_828023/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..473779a948007b1aff81004b3c7d4ca1be943ecf --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Plate-None-DiningTable-28/trial_T20190908_001313_828023/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 plate and put it in diningtable.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_001313_828023)\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_88_bar__plus_00_dot_75_bar__minus_00_dot_13 - object\n Blinds_bar__minus_01_dot_37_bar__plus_02_dot_21_bar__minus_03_dot_96 - object\n Bowl_bar__minus_00_dot_38_bar__plus_01_dot_28_bar__minus_00_dot_88 - object\n Bread_bar__minus_02_dot_56_bar__plus_00_dot_98_bar__minus_00_dot_38 - object\n Bread_bar__minus_03_dot_36_bar__plus_00_dot_98_bar__minus_00_dot_20 - object\n ButterKnife_bar__minus_03_dot_78_bar__plus_00_dot_76_bar__minus_03_dot_59 - object\n Cup_bar__minus_01_dot_15_bar__plus_00_dot_08_bar__minus_03_dot_61 - object\n DishSponge_bar__minus_00_dot_43_bar__plus_00_dot_08_bar__minus_01_dot_53 - object\n DishSponge_bar__minus_02_dot_76_bar__plus_00_dot_89_bar__minus_00_dot_20 - object\n DishSponge_bar__minus_03_dot_22_bar__plus_00_dot_76_bar__minus_03_dot_59 - object\n Egg_bar__minus_00_dot_24_bar__plus_00_dot_98_bar__minus_02_dot_55 - 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_39_bar__plus_00_dot_94_bar__minus_01_dot_32 - object\n Fork_bar__minus_03_dot_68_bar__plus_00_dot_76_bar__minus_03_dot_35 - object\n Fork_bar__minus_03_dot_71_bar__plus_00_dot_76_bar__minus_03_dot_78 - object\n Knife_bar__minus_03_dot_36_bar__plus_00_dot_92_bar__minus_00_dot_46 - 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_28_bar__plus_01_dot_58_bar__minus_00_dot_99 - object\n Lettuce_bar__minus_03_dot_60_bar__plus_00_dot_85_bar__minus_03_dot_65 - object\n Lettuce_bar__minus_04_dot_00_bar__plus_00_dot_78_bar__minus_00_dot_25 - object\n LightSwitch_bar__minus_04_dot_37_bar__plus_01_dot_49_bar__minus_01_dot_03 - object\n Mug_bar__minus_00_dot_32_bar__plus_01_dot_48_bar__minus_00_dot_30 - object\n Mug_bar__minus_03_dot_28_bar__plus_00_dot_76_bar__minus_02_dot_95 - object\n Mug_bar__minus_04_dot_00_bar__plus_00_dot_69_bar__minus_00_dot_49 - object\n Pan_bar__minus_00_dot_44_bar__plus_00_dot_96_bar__minus_02_dot_24 - object\n PepperShaker_bar__minus_00_dot_15_bar__plus_00_dot_94_bar__minus_02_dot_93 - object\n Plate_bar__minus_00_dot_28_bar__plus_01_dot_50_bar__minus_00_dot_76 - object\n Plate_bar__minus_00_dot_47_bar__plus_00_dot_09_bar__minus_02_dot_68 - object\n Potato_bar__minus_00_dot_24_bar__plus_00_dot_97_bar__minus_01_dot_41 - object\n Potato_bar__minus_00_dot_25_bar__plus_01_dot_32_bar__minus_00_dot_65 - object\n Potato_bar__minus_00_dot_29_bar__plus_01_dot_32_bar__minus_00_dot_76 - object\n Pot_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_01_dot_85 - object\n Pot_bar__minus_02_dot_96_bar__plus_00_dot_90_bar__minus_00_dot_29 - object\n SaltShaker_bar__minus_00_dot_40_bar__plus_00_dot_94_bar__minus_02_dot_73 - object\n Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39 - object\n SoapBottle_bar__minus_03_dot_44_bar__plus_00_dot_76_bar__minus_03_dot_41 - object\n Spatula_bar__minus_00_dot_39_bar__plus_00_dot_96_bar__minus_01_dot_54 - object\n Spatula_bar__minus_00_dot_40_bar__plus_00_dot_96_bar__minus_02_dot_91 - object\n Spatula_bar__minus_03_dot_40_bar__plus_00_dot_78_bar__minus_03_dot_07 - object\n 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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_7_bar__minus_2_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 Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39_bar_SinkBasin SinkBasinType)\n (receptacleType DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44 DiningTableType)\n (receptacleType Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_00_dot_39 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_89_bar__minus_02_dot_51 CabinetType)\n (receptacleType CoffeeMachine_bar__minus_02_dot_51_bar__plus_00_dot_93_bar__minus_03_dot_80 CoffeeMachineType)\n (receptacleType Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_02_dot_50 CabinetType)\n (receptacleType CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45 CounterTopType)\n (receptacleType Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_01_dot_27 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_01_dot_61 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_03_dot_01 CabinetType)\n (receptacleType StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_85 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_02_dot_51 CabinetType)\n (receptacleType Drawer_bar__minus_01_dot_15_bar__plus_00_dot_78_bar__minus_03_dot_50 DrawerType)\n (receptacleType StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_02_dot_24 StoveBurnerType)\n (receptacleType Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65 FridgeType)\n (receptacleType Drawer_bar__minus_00_dot_50_bar__plus_00_dot_78_bar__minus_01_dot_45 DrawerType)\n (receptacleType Microwave_bar__minus_00_dot_22_bar__plus_01_dot_47_bar__minus_02_dot_06 MicrowaveType)\n (receptacleType Drawer_bar__minus_00_dot_48_bar__plus_00_dot_78_bar__minus_02_dot_74 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_34_bar__plus_01_dot_89_bar__minus_01_dot_29 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_01_bar__plus_00_dot_39_bar__minus_03_dot_37 CabinetType)\n (receptacleType StoveBurner_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_01_dot_85 StoveBurnerType)\n (receptacleType GarbageCan_bar__minus_02_dot_42_bar__plus_00_dot_00_bar__minus_03_dot_54 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DishSponge_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 Bread_bar__minus_03_dot_36_bar__plus_00_dot_98_bar__minus_00_dot_20 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Pot_bar__minus_02_dot_96_bar__plus_00_dot_90_bar__minus_00_dot_29 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle SoapBottle_bar__minus_03_dot_44_bar__plus_00_dot_76_bar__minus_03_dot_41 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Fork_bar__minus_03_dot_68_bar__plus_00_dot_76_bar__minus_03_dot_35 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Mug_bar__minus_03_dot_28_bar__plus_00_dot_76_bar__minus_02_dot_95 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Lettuce_bar__minus_03_dot_60_bar__plus_00_dot_85_bar__minus_03_dot_65 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle DishSponge_bar__minus_03_dot_22_bar__plus_00_dot_76_bar__minus_03_dot_59 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Spatula_bar__minus_03_dot_40_bar__plus_00_dot_78_bar__minus_03_dot_07 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle ButterKnife_bar__minus_03_dot_78_bar__plus_00_dot_76_bar__minus_03_dot_59 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Fork_bar__minus_03_dot_71_bar__plus_00_dot_76_bar__minus_03_dot_78 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Pot_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 Pot_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 Pan_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 Plate_bar__minus_00_dot_47_bar__plus_00_dot_09_bar__minus_02_dot_68 Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_02_dot_51)\n (inReceptacle Cup_bar__minus_01_dot_15_bar__plus_00_dot_08_bar__minus_03_dot_61 Cabinet_bar__minus_01_dot_01_bar__plus_00_dot_39_bar__minus_03_dot_37)\n (inReceptacle DishSponge_bar__minus_00_dot_43_bar__plus_00_dot_08_bar__minus_01_dot_53 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 Apple_bar__minus_03_dot_88_bar__plus_00_dot_75_bar__minus_00_dot_13 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Mug_bar__minus_04_dot_00_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 Spoon_bar__minus_04_dot_12_bar__plus_00_dot_69_bar__minus_00_dot_37 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Lettuce_bar__minus_04_dot_00_bar__plus_00_dot_78_bar__minus_00_dot_25 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Potato_bar__minus_00_dot_24_bar__plus_00_dot_97_bar__minus_01_dot_41 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45)\n (inReceptacle Fork_bar__minus_00_dot_39_bar__plus_00_dot_94_bar__minus_01_dot_32 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45)\n (inReceptacle Spoon_bar__minus_00_dot_16_bar__plus_00_dot_94_bar__minus_01_dot_32 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_54 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_02_dot_24 StoveBurner_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_02_dot_24)\n (inReceptacle Tomato_bar__minus_00_dot_62_bar__plus_00_dot_86_bar__minus_03_dot_47 Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39_bar_SinkBasin)\n (inReceptacle Lettuce_bar__minus_00_dot_28_bar__plus_01_dot_58_bar__minus_00_dot_99 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\n (inReceptacle Potato_bar__minus_00_dot_29_bar__plus_01_dot_32_bar__minus_00_dot_76 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_88 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\n (inReceptacle Potato_bar__minus_00_dot_25_bar__plus_01_dot_32_bar__minus_00_dot_65 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\n (inReceptacle Plate_bar__minus_00_dot_28_bar__plus_01_dot_50_bar__minus_00_dot_76 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\n (inReceptacle Mug_bar__minus_00_dot_32_bar__plus_01_dot_48_bar__minus_00_dot_30 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\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 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(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_39_bar__plus_00_dot_94_bar__minus_01_dot_32 loc_bar__minus_4_bar__minus_6_bar_1_bar_45)\n (objectAtLocation Cup_bar__minus_01_dot_15_bar__plus_00_dot_08_bar__minus_03_dot_61 loc_bar__minus_7_bar__minus_10_bar_2_bar_60)\n (objectAtLocation Tomato_bar__minus_00_dot_62_bar__plus_00_dot_86_bar__minus_03_dot_47 loc_bar__minus_8_bar__minus_11_bar_1_bar_30)\n (objectAtLocation Pan_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 Plate_bar__minus_00_dot_28_bar__plus_01_dot_50_bar__minus_00_dot_76 loc_bar__minus_5_bar__minus_3_bar_1_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_36_bar__plus_00_dot_98_bar__minus_00_dot_20 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Spatula_bar__minus_03_dot_40_bar__plus_00_dot_78_bar__minus_03_dot_07 loc_bar__minus_14_bar__minus_9_bar_2_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_00_dot_40_bar__plus_00_dot_94_bar__minus_02_dot_73 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_15_bar__plus_00_dot_94_bar__minus_02_dot_93 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__minus_03_dot_78_bar__plus_00_dot_76_bar__minus_03_dot_59 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Apple_bar__minus_03_dot_88_bar__plus_00_dot_75_bar__minus_00_dot_13 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_43_bar__plus_00_dot_08_bar__minus_01_dot_53 loc_bar__minus_6_bar__minus_6_bar_1_bar_60)\n (objectAtLocation Potato_bar__minus_00_dot_24_bar__plus_00_dot_97_bar__minus_01_dot_41 loc_bar__minus_4_bar__minus_6_bar_1_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_24_bar__plus_00_dot_98_bar__minus_02_dot_55 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_04_dot_12_bar__plus_00_dot_69_bar__minus_00_dot_37 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Lettuce_bar__minus_00_dot_28_bar__plus_01_dot_58_bar__minus_00_dot_99 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Mug_bar__minus_00_dot_32_bar__plus_01_dot_48_bar__minus_00_dot_30 loc_bar__minus_5_bar__minus_3_bar_1_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_00_dot_38_bar__plus_01_dot_28_bar__minus_00_dot_88 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 PlateType)\n (receptacleType ?r DiningTableType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to fridge 1", "open fridge 1", "take plate 2 from fridge 1", "go to microwave 1", "heat plate 2 with microwave 1", "go to diningtable 2", "move plate 2 to diningtable 2"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Plate-None-DiningTable-28/trial_T20190908_001313_828023/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Plate-None-DiningTable-28/trial_T20190908_001313_828023/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..3bb63793ca3abd61134ab9f4648c24d66d7278db --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Plate-None-DiningTable-28/trial_T20190908_001313_828023/initial_state.pddl @@ -0,0 +1,972 @@ + +(define (problem plan_trial_T20190908_001313_828023) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_88_bar__plus_00_dot_75_bar__minus_00_dot_13 - object + Blinds_bar__minus_01_dot_37_bar__plus_02_dot_21_bar__minus_03_dot_96 - object + Bowl_bar__minus_00_dot_38_bar__plus_01_dot_28_bar__minus_00_dot_88 - object + Bread_bar__minus_02_dot_56_bar__plus_00_dot_98_bar__minus_00_dot_38 - object + Bread_bar__minus_03_dot_36_bar__plus_00_dot_98_bar__minus_00_dot_20 - object + ButterKnife_bar__minus_03_dot_78_bar__plus_00_dot_76_bar__minus_03_dot_59 - object + Cup_bar__minus_01_dot_15_bar__plus_00_dot_08_bar__minus_03_dot_61 - object + DishSponge_bar__minus_00_dot_43_bar__plus_00_dot_08_bar__minus_01_dot_53 - object + DishSponge_bar__minus_02_dot_76_bar__plus_00_dot_89_bar__minus_00_dot_20 - object + DishSponge_bar__minus_03_dot_22_bar__plus_00_dot_76_bar__minus_03_dot_59 - object + Egg_bar__minus_00_dot_24_bar__plus_00_dot_98_bar__minus_02_dot_55 - object + Faucet_bar__minus_00_dot_39_bar__plus_00_dot_93_bar__minus_03_dot_61 - object + Fork_bar__minus_00_dot_39_bar__plus_00_dot_94_bar__minus_01_dot_32 - object + Fork_bar__minus_03_dot_68_bar__plus_00_dot_76_bar__minus_03_dot_35 - object + Fork_bar__minus_03_dot_71_bar__plus_00_dot_76_bar__minus_03_dot_78 - object + Knife_bar__minus_03_dot_36_bar__plus_00_dot_92_bar__minus_00_dot_46 - object + Knife_bar__minus_04_dot_06_bar__plus_00_dot_72_bar__minus_00_dot_49 - object + Lettuce_bar__minus_00_dot_28_bar__plus_01_dot_58_bar__minus_00_dot_99 - object + Lettuce_bar__minus_03_dot_60_bar__plus_00_dot_85_bar__minus_03_dot_65 - object + Lettuce_bar__minus_04_dot_00_bar__plus_00_dot_78_bar__minus_00_dot_25 - object + LightSwitch_bar__minus_04_dot_37_bar__plus_01_dot_49_bar__minus_01_dot_03 - object + Mug_bar__minus_00_dot_32_bar__plus_01_dot_48_bar__minus_00_dot_30 - object + Mug_bar__minus_03_dot_28_bar__plus_00_dot_76_bar__minus_02_dot_95 - object + Mug_bar__minus_04_dot_00_bar__plus_00_dot_69_bar__minus_00_dot_49 - object + Pan_bar__minus_00_dot_44_bar__plus_00_dot_96_bar__minus_02_dot_24 - object + PepperShaker_bar__minus_00_dot_15_bar__plus_00_dot_94_bar__minus_02_dot_93 - object + Plate_bar__minus_00_dot_28_bar__plus_01_dot_50_bar__minus_00_dot_76 - object + Plate_bar__minus_00_dot_47_bar__plus_00_dot_09_bar__minus_02_dot_68 - object + Potato_bar__minus_00_dot_24_bar__plus_00_dot_97_bar__minus_01_dot_41 - object + Potato_bar__minus_00_dot_25_bar__plus_01_dot_32_bar__minus_00_dot_65 - object + Potato_bar__minus_00_dot_29_bar__plus_01_dot_32_bar__minus_00_dot_76 - object + Pot_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_01_dot_85 - object + Pot_bar__minus_02_dot_96_bar__plus_00_dot_90_bar__minus_00_dot_29 - object + SaltShaker_bar__minus_00_dot_40_bar__plus_00_dot_94_bar__minus_02_dot_73 - object + Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39 - object + SoapBottle_bar__minus_03_dot_44_bar__plus_00_dot_76_bar__minus_03_dot_41 - object + Spatula_bar__minus_00_dot_39_bar__plus_00_dot_96_bar__minus_01_dot_54 - object + Spatula_bar__minus_00_dot_40_bar__plus_00_dot_96_bar__minus_02_dot_91 - object + Spatula_bar__minus_03_dot_40_bar__plus_00_dot_78_bar__minus_03_dot_07 - object + Spoon_bar__minus_00_dot_16_bar__plus_00_dot_94_bar__minus_01_dot_32 - object + Spoon_bar__minus_04_dot_12_bar__plus_00_dot_69_bar__minus_00_dot_37 - 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_62_bar__plus_00_dot_86_bar__minus_03_dot_47 - 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 + loc_bar__minus_4_bar__minus_7_bar_1_bar_45 - location + loc_bar__minus_6_bar__minus_9_bar_1_bar_60 - location + loc_bar__minus_5_bar__minus_10_bar_1_bar_45 - location + loc_bar__minus_14_bar__minus_9_bar_2_bar_45 - location + loc_bar__minus_4_bar__minus_6_bar_1_bar__minus_15 - location + loc_bar__minus_6_bar__minus_6_bar_1_bar__minus_15 - location + loc_bar__minus_4_bar__minus_9_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_7_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30 - location + loc_bar__minus_15_bar__minus_4_bar_3_bar_15 - location + loc_bar__minus_8_bar__minus_12_bar_2_bar_45 - location + loc_bar__minus_10_bar__minus_12_bar_2_bar_45 - 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_4_bar__minus_9_bar_2_bar__minus_15 - location + loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_30 - location + loc_bar__minus_15_bar__minus_5_bar_0_bar_45 - location + 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_7_bar__minus_2_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) + (receptacleType CoffeeMachine_bar__minus_02_dot_51_bar__plus_00_dot_93_bar__minus_03_dot_80 CoffeeMachineType) + (receptacleType Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_02_dot_50 CabinetType) + (receptacleType 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DrawerType) + (receptacleType Microwave_bar__minus_00_dot_22_bar__plus_01_dot_47_bar__minus_02_dot_06 MicrowaveType) + (receptacleType Drawer_bar__minus_00_dot_48_bar__plus_00_dot_78_bar__minus_02_dot_74 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_34_bar__plus_01_dot_89_bar__minus_01_dot_29 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_01_bar__plus_00_dot_39_bar__minus_03_dot_37 CabinetType) + (receptacleType StoveBurner_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_01_dot_85 StoveBurnerType) + (receptacleType GarbageCan_bar__minus_02_dot_42_bar__plus_00_dot_00_bar__minus_03_dot_54 GarbageCanType) + (receptacleType Toaster_bar__minus_01_dot_97_bar__plus_00_dot_93_bar__minus_03_dot_76 ToasterType) + (receptacleType StoveBurner_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_02_dot_24 StoveBurnerType) + (receptacleType Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_01_dot_63 CabinetType) + (receptacleType 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Cup_bar__minus_01_dot_15_bar__plus_00_dot_08_bar__minus_03_dot_61) + (cleanable Plate_bar__minus_00_dot_47_bar__plus_00_dot_09_bar__minus_02_dot_68) + (cleanable Plate_bar__minus_00_dot_28_bar__plus_01_dot_50_bar__minus_00_dot_76) + (cleanable ButterKnife_bar__minus_03_dot_78_bar__plus_00_dot_76_bar__minus_03_dot_59) + (cleanable Fork_bar__minus_03_dot_71_bar__plus_00_dot_76_bar__minus_03_dot_78) + (cleanable Spoon_bar__minus_04_dot_12_bar__plus_00_dot_69_bar__minus_00_dot_37) + + (heatable Potato_bar__minus_00_dot_29_bar__plus_01_dot_32_bar__minus_00_dot_76) + (heatable Mug_bar__minus_04_dot_00_bar__plus_00_dot_69_bar__minus_00_dot_49) + (heatable Potato_bar__minus_00_dot_25_bar__plus_01_dot_32_bar__minus_00_dot_65) + (heatable Tomato_bar__minus_00_dot_62_bar__plus_00_dot_86_bar__minus_03_dot_47) + (heatable Bread_bar__minus_03_dot_36_bar__plus_00_dot_98_bar__minus_00_dot_20) + (heatable Bread_bar__minus_02_dot_56_bar__plus_00_dot_98_bar__minus_00_dot_38) + (heatable Egg_bar__minus_00_dot_24_bar__plus_00_dot_98_bar__minus_02_dot_55) + (heatable Potato_bar__minus_00_dot_24_bar__plus_00_dot_97_bar__minus_01_dot_41) + (heatable Mug_bar__minus_00_dot_32_bar__plus_01_dot_48_bar__minus_00_dot_30) + (heatable Mug_bar__minus_03_dot_28_bar__plus_00_dot_76_bar__minus_02_dot_95) + (heatable Apple_bar__minus_03_dot_88_bar__plus_00_dot_75_bar__minus_00_dot_13) + (heatable Cup_bar__minus_01_dot_15_bar__plus_00_dot_08_bar__minus_03_dot_61) + (heatable Plate_bar__minus_00_dot_47_bar__plus_00_dot_09_bar__minus_02_dot_68) + (heatable Plate_bar__minus_00_dot_28_bar__plus_01_dot_50_bar__minus_00_dot_76) + (coolable Potato_bar__minus_00_dot_29_bar__plus_01_dot_32_bar__minus_00_dot_76) + (coolable Mug_bar__minus_04_dot_00_bar__plus_00_dot_69_bar__minus_00_dot_49) + (coolable Potato_bar__minus_00_dot_25_bar__plus_01_dot_32_bar__minus_00_dot_65) + (coolable Tomato_bar__minus_00_dot_62_bar__plus_00_dot_86_bar__minus_03_dot_47) + (coolable 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Egg_bar__minus_00_dot_24_bar__plus_00_dot_98_bar__minus_02_dot_55) + (sliceable Potato_bar__minus_00_dot_24_bar__plus_00_dot_97_bar__minus_01_dot_41) + (sliceable Lettuce_bar__minus_04_dot_00_bar__plus_00_dot_78_bar__minus_00_dot_25) + (sliceable Lettuce_bar__minus_00_dot_28_bar__plus_01_dot_58_bar__minus_00_dot_99) + (sliceable Apple_bar__minus_03_dot_88_bar__plus_00_dot_75_bar__minus_00_dot_13) + + (inReceptacleObject Knife_bar__minus_04_dot_06_bar__plus_00_dot_72_bar__minus_00_dot_49 Mug_bar__minus_04_dot_00_bar__plus_00_dot_69_bar__minus_00_dot_49) + (inReceptacle Pan_bar__minus_00_dot_44_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) + (inReceptacle SaltShaker_bar__minus_00_dot_40_bar__plus_00_dot_94_bar__minus_02_dot_73 CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67) + (inReceptacle Egg_bar__minus_00_dot_24_bar__plus_00_dot_98_bar__minus_02_dot_55 CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67) + (inReceptacle Spatula_bar__minus_00_dot_40_bar__plus_00_dot_96_bar__minus_02_dot_91 CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67) + (inReceptacle PepperShaker_bar__minus_00_dot_15_bar__plus_00_dot_94_bar__minus_02_dot_93 CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67) + (inReceptacle Bread_bar__minus_02_dot_56_bar__plus_00_dot_98_bar__minus_00_dot_38 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44) + (inReceptacle Knife_bar__minus_03_dot_36_bar__plus_00_dot_92_bar__minus_00_dot_46 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44) + (inReceptacle DishSponge_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) + (inReceptacle Bread_bar__minus_03_dot_36_bar__plus_00_dot_98_bar__minus_00_dot_20 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44) + (inReceptacle Pot_bar__minus_02_dot_96_bar__plus_00_dot_90_bar__minus_00_dot_29 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44) + (inReceptacle SoapBottle_bar__minus_03_dot_44_bar__plus_00_dot_76_bar__minus_03_dot_41 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32) + (inReceptacle Fork_bar__minus_03_dot_68_bar__plus_00_dot_76_bar__minus_03_dot_35 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32) + (inReceptacle Mug_bar__minus_03_dot_28_bar__plus_00_dot_76_bar__minus_02_dot_95 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32) + (inReceptacle Lettuce_bar__minus_03_dot_60_bar__plus_00_dot_85_bar__minus_03_dot_65 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32) + (inReceptacle DishSponge_bar__minus_03_dot_22_bar__plus_00_dot_76_bar__minus_03_dot_59 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32) + (inReceptacle Spatula_bar__minus_03_dot_40_bar__plus_00_dot_78_bar__minus_03_dot_07 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32) + (inReceptacle ButterKnife_bar__minus_03_dot_78_bar__plus_00_dot_76_bar__minus_03_dot_59 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32) + (inReceptacle Fork_bar__minus_03_dot_71_bar__plus_00_dot_76_bar__minus_03_dot_78 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32) + (inReceptacle Pot_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) + (inReceptacle Pot_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) + (inReceptacle Pan_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) + (inReceptacle Plate_bar__minus_00_dot_47_bar__plus_00_dot_09_bar__minus_02_dot_68 Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_02_dot_51) + (inReceptacle Cup_bar__minus_01_dot_15_bar__plus_00_dot_08_bar__minus_03_dot_61 Cabinet_bar__minus_01_dot_01_bar__plus_00_dot_39_bar__minus_03_dot_37) + (inReceptacle DishSponge_bar__minus_00_dot_43_bar__plus_00_dot_08_bar__minus_01_dot_53 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 Apple_bar__minus_03_dot_88_bar__plus_00_dot_75_bar__minus_00_dot_13 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31) + (inReceptacle Mug_bar__minus_04_dot_00_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 Spoon_bar__minus_04_dot_12_bar__plus_00_dot_69_bar__minus_00_dot_37 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31) + (inReceptacle Lettuce_bar__minus_04_dot_00_bar__plus_00_dot_78_bar__minus_00_dot_25 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31) + (inReceptacle Potato_bar__minus_00_dot_24_bar__plus_00_dot_97_bar__minus_01_dot_41 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45) + (inReceptacle Fork_bar__minus_00_dot_39_bar__plus_00_dot_94_bar__minus_01_dot_32 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45) + (inReceptacle Spoon_bar__minus_00_dot_16_bar__plus_00_dot_94_bar__minus_01_dot_32 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45) + (inReceptacle Spatula_bar__minus_00_dot_39_bar__plus_00_dot_96_bar__minus_01_dot_54 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0.0 + } + }, + { + "objectName": "Apple_4eadea0d", + "position": { + "x": -3.8821454, + "y": 0.7519119, + "z": -0.126498044 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_7e2c9e01", + "position": { + "x": -3.22479749, + "y": 0.7596526, + "z": -3.59047 + }, + "rotation": { + "x": 0.0, + "y": 109.125885, + "z": 0.0 + } + }, + { + "objectName": "Potato_5e3edff7", + "position": { + "x": -0.252379239, + "y": 1.31857514, + "z": -0.646000266 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Egg_571582a1", + "position": { + "x": -0.244763374, + "y": 0.9833667, + "z": -2.552065 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_7dcfa4cd", + "position": { + "x": -0.157691017, + "y": 0.9424294, + "z": -1.31903028 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_ec37c659", + "position": { + "x": -4.002282, + "y": 0.7814844, + "z": -0.248166 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_f3c7368a", + "position": { + "x": -3.28484178, + "y": 0.7550884, + "z": -2.949436 + }, + "rotation": { + "x": 0.0, + "y": 244.125916, + "z": 0.0 + } + }, + { + "objectName": "Bowl_1f51c27f", + "position": { + "x": -0.376194835, + "y": 1.28490734, + "z": -0.8786218 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1893377220, + "scene_num": 28 + }, + "task_id": "trial_T20190908_001313_828023", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A23HZ18KTCK2DA_36U2A8VAG4GOTOV106REU36I4KKKYS", + "high_descs": [ + "Turn around so you are facing the fridge.", + "Open the fridge. Grab the tray off the top shelf of the fridge. Shut the fridge.", + "Turn and go to the stove with the tray in hand.", + "Open the microwave above the stove. Place the tray in the microwave. Close the door and turn it on. Open the door and grab the tray.", + "With the tray in hand turn around and go to the door. Turn left and face the table.", + "Place the tray to the right of the coffee mug on the table." + ], + "task_desc": "Warm up the tray and place on the table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1ZE52NWZPN85P_3FE7TXL1LL4K360PKQ4GHLHMOBL2QP", + "high_descs": [ + "Turn around and face the fridge", + "Open the fridge, grab a plate from in the fridge and close the door", + "Turn right and then turn to your left to face the microwave", + "Put the plate in the microwave for a few seconds and then take it out", + "Turn around and then head to your left, facing the kitchen table", + "Set the plate down on the kitchen table" + ], + "task_desc": "Microwave a plate and set it down on a kitchen table", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3MXBLYX2CDGTP_3LO69W1SU6UZR3SJR0H923CTOOZLGY", + "high_descs": [ + "Turn around and walk to the refrigerator.", + "Take the black and white plate out of the fridge.", + "Turn right and walk to the stove on your left.", + "Put the plate in the microwave above the stove, turn the microwave on then remove the plate.", + "Turn around and walk towards the door then turn left and stop at the round table.", + "Put the plate on the table." + ], + "task_desc": "Warm a plate in the microwave, put the plate on the table.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Plate-None-DiningTable-28/trial_T20190908_012724_604877/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Plate-None-DiningTable-28/trial_T20190908_012724_604877/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..3d4c41df7f2199fbb708f97f83f78f3fddbb9013 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Plate-None-DiningTable-28/trial_T20190908_012724_604877/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 plate in diningtable.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_012724_604877)\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_40_bar__plus_01_dot_55_bar__minus_00_dot_65 - object\n Blinds_bar__minus_01_dot_37_bar__plus_02_dot_21_bar__minus_03_dot_96 - object\n Bowl_bar__minus_00_dot_21_bar__plus_01_dot_50_bar__minus_01_dot_41 - object\n Bread_bar__minus_02_dot_99_bar__plus_00_dot_96_bar__minus_00_dot_29 - object\n Bread_bar__minus_03_dot_35_bar__plus_00_dot_84_bar__minus_03_dot_48 - object\n ButterKnife_bar__minus_00_dot_72_bar__plus_00_dot_81_bar__minus_03_dot_49 - object\n ButterKnife_bar__minus_04_dot_06_bar__plus_00_dot_76_bar__minus_03_dot_17 - object\n ButterKnife_bar__minus_04_dot_12_bar__plus_00_dot_69_bar__minus_00_dot_25 - object\n Cup_bar__minus_00_dot_24_bar__plus_01_dot_94_bar__minus_02_dot_23 - object\n Cup_bar__minus_03_dot_16_bar__plus_00_dot_90_bar__minus_00_dot_20 - object\n DishSponge_bar__minus_00_dot_59_bar__plus_00_dot_81_bar__minus_03_dot_28 - object\n DishSponge_bar__minus_00_dot_59_bar__plus_00_dot_81_bar__minus_03_dot_51 - object\n Egg_bar__minus_00_dot_46_bar__plus_01_dot_33_bar__minus_00_dot_53 - object\n Egg_bar__minus_03_dot_90_bar__plus_00_dot_80_bar__minus_03_dot_46 - object\n Faucet_bar__minus_00_dot_39_bar__plus_00_dot_93_bar__minus_03_dot_61 - object\n Fork_bar__minus_03_dot_57_bar__plus_00_dot_90_bar__minus_00_dot_29 - object\n Knife_bar__minus_00_dot_39_bar__plus_00_dot_97_bar__minus_01_dot_54 - object\n Knife_bar__minus_02_dot_93_bar__plus_00_dot_89_bar__minus_00_dot_46 - object\n Lettuce_bar__minus_03_dot_70_bar__plus_00_dot_85_bar__minus_03_dot_50 - object\n Lettuce_bar__minus_04_dot_00_bar__plus_00_dot_78_bar__minus_00_dot_43 - object\n LightSwitch_bar__minus_04_dot_37_bar__plus_01_dot_49_bar__minus_01_dot_03 - object\n Mug_bar__minus_03_dot_53_bar__plus_00_dot_76_bar__minus_03_dot_79 - object\n Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_02_dot_22 - object\n PepperShaker_bar__minus_00_dot_40_bar__plus_00_dot_94_bar__minus_02_dot_73 - object\n PepperShaker_bar__minus_04_dot_18_bar__plus_00_dot_69_bar__minus_00_dot_31 - object\n Plate_bar__minus_03_dot_60_bar__plus_00_dot_77_bar__minus_03_dot_26 - object\n Potato_bar__minus_00_dot_39_bar__plus_00_dot_85_bar__minus_03_dot_24 - object\n Potato_bar__minus_03_dot_98_bar__plus_00_dot_79_bar__minus_03_dot_40 - object\n Pot_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_01_dot_85 - object\n SaltShaker_bar__minus_00_dot_26_bar__plus_00_dot_94_bar__minus_02_dot_93 - object\n SaltShaker_bar__minus_02_dot_36_bar__plus_00_dot_89_bar__minus_00_dot_20 - object\n Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39 - object\n SoapBottle_bar__minus_00_dot_43_bar__plus_00_dot_08_bar__minus_01_dot_33 - object\n SoapBottle_bar__minus_01_dot_00_bar__plus_00_dot_94_bar__minus_03_dot_85 - object\n Spatula_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_03_dot_63 - object\n Spatula_bar__minus_03_dot_88_bar__plus_00_dot_71_bar__minus_00_dot_43 - object\n Spoon_bar__minus_00_dot_54_bar__plus_00_dot_75_bar__minus_02_dot_85 - object\n Spoon_bar__minus_00_dot_58_bar__plus_00_dot_75_bar__minus_01_dot_45 - 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_00_dot_25_bar__plus_01_dot_34_bar__minus_00_dot_30 - object\n Tomato_bar__minus_04_dot_06_bar__plus_00_dot_74_bar__minus_00_dot_25 - 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 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45 - receptacle\n CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67 - receptacle\n DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44 - receptacle\n DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32 - receptacle\n Drawer_bar__minus_00_dot_48_bar__plus_00_dot_78_bar__minus_02_dot_74 - receptacle\n Drawer_bar__minus_00_dot_50_bar__plus_00_dot_78_bar__minus_01_dot_45 - receptacle\n Drawer_bar__minus_01_dot_15_bar__plus_00_dot_78_bar__minus_03_dot_50 - receptacle\n Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65 - receptacle\n GarbageCan_bar__minus_02_dot_42_bar__plus_00_dot_00_bar__minus_03_dot_54 - receptacle\n Microwave_bar__minus_00_dot_22_bar__plus_01_dot_47_bar__minus_02_dot_06 - receptacle\n SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31 - receptacle\n Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_01_dot_85 - receptacle\n StoveBurner_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_02_dot_24 - receptacle\n StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_85 - receptacle\n 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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_9_bar__minus_8_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 (receptacleType Cabinet_bar__minus_00_dot_35_bar__plus_01_dot_89_bar__minus_03_dot_29 CabinetType)\n (receptacleType Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39_bar_SinkBasin SinkBasinType)\n (receptacleType DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44 DiningTableType)\n (receptacleType Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_00_dot_39 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_89_bar__minus_02_dot_51 CabinetType)\n (receptacleType CoffeeMachine_bar__minus_02_dot_51_bar__plus_00_dot_93_bar__minus_03_dot_80 CoffeeMachineType)\n (receptacleType Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_02_dot_50 CabinetType)\n (receptacleType CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45 CounterTopType)\n (receptacleType Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_01_dot_27 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_01_dot_61 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_03_dot_01 CabinetType)\n (receptacleType StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_85 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_02_dot_51 CabinetType)\n (receptacleType Drawer_bar__minus_01_dot_15_bar__plus_00_dot_78_bar__minus_03_dot_50 DrawerType)\n (receptacleType 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PepperShaker_bar__minus_00_dot_40_bar__plus_00_dot_94_bar__minus_02_dot_73 CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67)\n (inReceptacle Knife_bar__minus_02_dot_93_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 Cup_bar__minus_03_dot_16_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 Fork_bar__minus_03_dot_57_bar__plus_00_dot_90_bar__minus_00_dot_29 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Bread_bar__minus_02_dot_99_bar__plus_00_dot_96_bar__minus_00_dot_29 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle SaltShaker_bar__minus_02_dot_36_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 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 Potato_bar__minus_03_dot_98_bar__plus_00_dot_79_bar__minus_03_dot_40 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Plate_bar__minus_03_dot_60_bar__plus_00_dot_77_bar__minus_03_dot_26 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Bread_bar__minus_03_dot_35_bar__plus_00_dot_84_bar__minus_03_dot_48 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Egg_bar__minus_03_dot_90_bar__plus_00_dot_80_bar__minus_03_dot_46 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle ButterKnife_bar__minus_04_dot_06_bar__plus_00_dot_76_bar__minus_03_dot_17 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Mug_bar__minus_03_dot_53_bar__plus_00_dot_76_bar__minus_03_dot_79 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Lettuce_bar__minus_03_dot_70_bar__plus_00_dot_85_bar__minus_03_dot_50 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Pot_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 Pot_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 Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_02_dot_22 StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_02_dot_24)\n (inReceptacle Spoon_bar__minus_00_dot_58_bar__plus_00_dot_75_bar__minus_01_dot_45 Drawer_bar__minus_00_dot_50_bar__plus_00_dot_78_bar__minus_01_dot_45)\n (inReceptacle Spoon_bar__minus_00_dot_54_bar__plus_00_dot_75_bar__minus_02_dot_85 Drawer_bar__minus_00_dot_48_bar__plus_00_dot_78_bar__minus_02_dot_74)\n (inReceptacle Cup_bar__minus_00_dot_24_bar__plus_01_dot_94_bar__minus_02_dot_23 Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_02_dot_50)\n (inReceptacle Bowl_bar__minus_00_dot_21_bar__plus_01_dot_50_bar__minus_01_dot_41 Cabinet_bar__minus_00_dot_34_bar__plus_01_dot_89_bar__minus_01_dot_29)\n (inReceptacle SoapBottle_bar__minus_00_dot_43_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 Spatula_bar__minus_03_dot_88_bar__plus_00_dot_71_bar__minus_00_dot_43 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Tomato_bar__minus_04_dot_06_bar__plus_00_dot_74_bar__minus_00_dot_25 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Lettuce_bar__minus_04_dot_00_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 ButterKnife_bar__minus_04_dot_12_bar__plus_00_dot_69_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_04_dot_18_bar__plus_00_dot_69_bar__minus_00_dot_31 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Knife_bar__minus_00_dot_39_bar__plus_00_dot_97_bar__minus_01_dot_54 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_22 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 ButterKnife_bar__minus_00_dot_72_bar__plus_00_dot_81_bar__minus_03_dot_49 Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39_bar_SinkBasin)\n (inReceptacle Potato_bar__minus_00_dot_39_bar__plus_00_dot_85_bar__minus_03_dot_24 Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39_bar_SinkBasin)\n (inReceptacle DishSponge_bar__minus_00_dot_59_bar__plus_00_dot_81_bar__minus_03_dot_28 Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39_bar_SinkBasin)\n (inReceptacle DishSponge_bar__minus_00_dot_59_bar__plus_00_dot_81_bar__minus_03_dot_51 Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39_bar_SinkBasin)\n (inReceptacle Tomato_bar__minus_00_dot_25_bar__plus_01_dot_34_bar__minus_00_dot_30 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\n (inReceptacle Egg_bar__minus_00_dot_46_bar__plus_01_dot_33_bar__minus_00_dot_53 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\n (inReceptacle Apple_bar__minus_00_dot_40_bar__plus_01_dot_55_bar__minus_00_dot_65 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\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 Lettuce_bar__minus_03_dot_70_bar__plus_00_dot_85_bar__minus_03_dot_50 loc_bar__minus_14_bar__minus_9_bar_2_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_46_bar__plus_01_dot_33_bar__minus_00_dot_53 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Potato_bar__minus_03_dot_98_bar__plus_00_dot_79_bar__minus_03_dot_40 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_59_bar__plus_00_dot_81_bar__minus_03_dot_28 loc_bar__minus_8_bar__minus_11_bar_1_bar_30)\n (objectAtLocation ButterKnife_bar__minus_04_dot_12_bar__plus_00_dot_69_bar__minus_00_dot_25 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation PepperShaker_bar__minus_04_dot_18_bar__plus_00_dot_69_bar__minus_00_dot_31 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_26_bar__plus_00_dot_94_bar__minus_02_dot_93 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (objectAtLocation Knife_bar__minus_02_dot_93_bar__plus_00_dot_89_bar__minus_00_dot_46 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Spatula_bar__minus_03_dot_88_bar__plus_00_dot_71_bar__minus_00_dot_43 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Bread_bar__minus_02_dot_99_bar__plus_00_dot_96_bar__minus_00_dot_29 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Tomato_bar__minus_00_dot_25_bar__plus_01_dot_34_bar__minus_00_dot_30 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Cup_bar__minus_03_dot_16_bar__plus_00_dot_90_bar__minus_00_dot_20 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_43_bar__plus_00_dot_08_bar__minus_01_dot_33 loc_bar__minus_6_bar__minus_6_bar_1_bar_60)\n (objectAtLocation Spoon_bar__minus_00_dot_58_bar__plus_00_dot_75_bar__minus_01_dot_45 loc_bar__minus_4_bar__minus_6_bar_1_bar_60)\n (objectAtLocation ButterKnife_bar__minus_04_dot_06_bar__plus_00_dot_76_bar__minus_03_dot_17 loc_bar__minus_14_bar__minus_9_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_01_dot_00_bar__plus_00_dot_94_bar__minus_03_dot_85 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (objectAtLocation Pot_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_01_dot_85 loc_bar__minus_4_bar__minus_7_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_03_dot_57_bar__plus_00_dot_90_bar__minus_00_dot_29 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Cup_bar__minus_00_dot_24_bar__plus_01_dot_94_bar__minus_02_dot_23 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30)\n (objectAtLocation Tomato_bar__minus_04_dot_06_bar__plus_00_dot_74_bar__minus_00_dot_25 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_02_dot_22 loc_bar__minus_4_bar__minus_9_bar_1_bar_45)\n (objectAtLocation Plate_bar__minus_03_dot_60_bar__plus_00_dot_77_bar__minus_03_dot_26 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_35_bar__plus_00_dot_84_bar__minus_03_dot_48 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\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 Knife_bar__minus_00_dot_39_bar__plus_00_dot_97_bar__minus_01_dot_54 loc_bar__minus_4_bar__minus_6_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__minus_02_dot_36_bar__plus_00_dot_89_bar__minus_00_dot_20 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation PepperShaker_bar__minus_00_dot_40_bar__plus_00_dot_94_bar__minus_02_dot_73 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_72_bar__plus_00_dot_81_bar__minus_03_dot_49 loc_bar__minus_8_bar__minus_11_bar_1_bar_30)\n (objectAtLocation Apple_bar__minus_00_dot_40_bar__plus_01_dot_55_bar__minus_00_dot_65 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation DishSponge_bar__minus_00_dot_59_bar__plus_00_dot_81_bar__minus_03_dot_51 loc_bar__minus_8_bar__minus_11_bar_1_bar_30)\n (objectAtLocation Potato_bar__minus_00_dot_39_bar__plus_00_dot_85_bar__minus_03_dot_24 loc_bar__minus_8_bar__minus_11_bar_1_bar_30)\n (objectAtLocation Egg_bar__minus_03_dot_90_bar__plus_00_dot_80_bar__minus_03_dot_46 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_54_bar__plus_00_dot_75_bar__minus_02_dot_85 loc_bar__minus_5_bar__minus_10_bar_1_bar_45)\n (objectAtLocation Lettuce_bar__minus_04_dot_00_bar__plus_00_dot_78_bar__minus_00_dot_43 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Mug_bar__minus_03_dot_53_bar__plus_00_dot_76_bar__minus_03_dot_79 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\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_21_bar__plus_01_dot_50_bar__minus_01_dot_41 loc_bar__minus_4_bar__minus_6_bar_1_bar__minus_15)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (heatable ?o)\n (objectType ?o PlateType)\n (receptacleType ?r DiningTableType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 1", "take plate 1 from diningtable 1", "go to microwave 1", "heat plate 1 with microwave 1", "go to diningtable 2", "move plate 1 to diningtable 2"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Plate-None-DiningTable-28/trial_T20190908_012724_604877/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Plate-None-DiningTable-28/trial_T20190908_012724_604877/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..479c0651b3cda5e6e81f48d4e4d1e3fc35245cd8 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Plate-None-DiningTable-28/trial_T20190908_012724_604877/initial_state.pddl @@ -0,0 +1,954 @@ + +(define (problem plan_trial_T20190908_012724_604877) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_40_bar__plus_01_dot_55_bar__minus_00_dot_65 - object + Blinds_bar__minus_01_dot_37_bar__plus_02_dot_21_bar__minus_03_dot_96 - object + Bowl_bar__minus_00_dot_21_bar__plus_01_dot_50_bar__minus_01_dot_41 - object + Bread_bar__minus_02_dot_99_bar__plus_00_dot_96_bar__minus_00_dot_29 - object + Bread_bar__minus_03_dot_35_bar__plus_00_dot_84_bar__minus_03_dot_48 - object + ButterKnife_bar__minus_00_dot_72_bar__plus_00_dot_81_bar__minus_03_dot_49 - object + ButterKnife_bar__minus_04_dot_06_bar__plus_00_dot_76_bar__minus_03_dot_17 - object + ButterKnife_bar__minus_04_dot_12_bar__plus_00_dot_69_bar__minus_00_dot_25 - object + Cup_bar__minus_00_dot_24_bar__plus_01_dot_94_bar__minus_02_dot_23 - object + Cup_bar__minus_03_dot_16_bar__plus_00_dot_90_bar__minus_00_dot_20 - object + DishSponge_bar__minus_00_dot_59_bar__plus_00_dot_81_bar__minus_03_dot_28 - object + DishSponge_bar__minus_00_dot_59_bar__plus_00_dot_81_bar__minus_03_dot_51 - object + Egg_bar__minus_00_dot_46_bar__plus_01_dot_33_bar__minus_00_dot_53 - object + Egg_bar__minus_03_dot_90_bar__plus_00_dot_80_bar__minus_03_dot_46 - object + Faucet_bar__minus_00_dot_39_bar__plus_00_dot_93_bar__minus_03_dot_61 - object + Fork_bar__minus_03_dot_57_bar__plus_00_dot_90_bar__minus_00_dot_29 - object + Knife_bar__minus_00_dot_39_bar__plus_00_dot_97_bar__minus_01_dot_54 - object + Knife_bar__minus_02_dot_93_bar__plus_00_dot_89_bar__minus_00_dot_46 - object + Lettuce_bar__minus_03_dot_70_bar__plus_00_dot_85_bar__minus_03_dot_50 - object + Lettuce_bar__minus_04_dot_00_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_03_dot_53_bar__plus_00_dot_76_bar__minus_03_dot_79 - object + Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_02_dot_22 - object + PepperShaker_bar__minus_00_dot_40_bar__plus_00_dot_94_bar__minus_02_dot_73 - object + PepperShaker_bar__minus_04_dot_18_bar__plus_00_dot_69_bar__minus_00_dot_31 - object + Plate_bar__minus_03_dot_60_bar__plus_00_dot_77_bar__minus_03_dot_26 - object + Potato_bar__minus_00_dot_39_bar__plus_00_dot_85_bar__minus_03_dot_24 - object + Potato_bar__minus_03_dot_98_bar__plus_00_dot_79_bar__minus_03_dot_40 - object + Pot_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_01_dot_85 - object + SaltShaker_bar__minus_00_dot_26_bar__plus_00_dot_94_bar__minus_02_dot_93 - object + SaltShaker_bar__minus_02_dot_36_bar__plus_00_dot_89_bar__minus_00_dot_20 - object + Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39 - object + SoapBottle_bar__minus_00_dot_43_bar__plus_00_dot_08_bar__minus_01_dot_33 - object + SoapBottle_bar__minus_01_dot_00_bar__plus_00_dot_94_bar__minus_03_dot_85 - object + Spatula_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_03_dot_63 - object + Spatula_bar__minus_03_dot_88_bar__plus_00_dot_71_bar__minus_00_dot_43 - object + Spoon_bar__minus_00_dot_54_bar__plus_00_dot_75_bar__minus_02_dot_85 - object + Spoon_bar__minus_00_dot_58_bar__plus_00_dot_75_bar__minus_01_dot_45 - object + Spoon_bar__minus_02_dot_56_bar__plus_00_dot_90_bar__minus_00_dot_20 - 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_25_bar__plus_01_dot_34_bar__minus_00_dot_30 - object + Tomato_bar__minus_04_dot_06_bar__plus_00_dot_74_bar__minus_00_dot_25 - 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 + loc_bar__minus_4_bar__minus_7_bar_1_bar_45 - location + loc_bar__minus_6_bar__minus_9_bar_1_bar_60 - location + loc_bar__minus_5_bar__minus_10_bar_1_bar_45 - location + loc_bar__minus_14_bar__minus_9_bar_2_bar_45 - location + loc_bar__minus_4_bar__minus_6_bar_1_bar__minus_15 - location + loc_bar__minus_6_bar__minus_6_bar_1_bar__minus_15 - location + loc_bar__minus_4_bar__minus_9_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_7_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30 - location + loc_bar__minus_15_bar__minus_4_bar_3_bar_15 - location + loc_bar__minus_8_bar__minus_12_bar_2_bar_45 - location + loc_bar__minus_10_bar__minus_12_bar_2_bar_45 - 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_4_bar__minus_9_bar_2_bar__minus_15 - location + loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_30 - location + loc_bar__minus_15_bar__minus_5_bar_0_bar_45 - location + 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_9_bar__minus_8_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 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) + (receptacleType CoffeeMachine_bar__minus_02_dot_51_bar__plus_00_dot_93_bar__minus_03_dot_80 CoffeeMachineType) + (receptacleType Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_02_dot_50 CabinetType) + (receptacleType CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45 CounterTopType) + (receptacleType Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_01_dot_27 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_01_dot_61 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_03_dot_01 CabinetType) + (receptacleType StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_85 StoveBurnerType) + (receptacleType Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_02_dot_51 CabinetType) + (receptacleType Drawer_bar__minus_01_dot_15_bar__plus_00_dot_78_bar__minus_03_dot_50 DrawerType) + (receptacleType StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_02_dot_24 StoveBurnerType) + (receptacleType Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65 FridgeType) + (receptacleType Drawer_bar__minus_00_dot_50_bar__plus_00_dot_78_bar__minus_01_dot_45 DrawerType) + (receptacleType Microwave_bar__minus_00_dot_22_bar__plus_01_dot_47_bar__minus_02_dot_06 MicrowaveType) + (receptacleType Drawer_bar__minus_00_dot_48_bar__plus_00_dot_78_bar__minus_02_dot_74 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_34_bar__plus_01_dot_89_bar__minus_01_dot_29 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_01_bar__plus_00_dot_39_bar__minus_03_dot_37 CabinetType) + (receptacleType StoveBurner_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_01_dot_85 StoveBurnerType) + (receptacleType GarbageCan_bar__minus_02_dot_42_bar__plus_00_dot_00_bar__minus_03_dot_54 GarbageCanType) + (receptacleType Toaster_bar__minus_01_dot_97_bar__plus_00_dot_93_bar__minus_03_dot_76 ToasterType) + (receptacleType StoveBurner_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_02_dot_24 StoveBurnerType) + (receptacleType Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_01_dot_63 CabinetType) + (receptacleType DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32 DiningTableType) + (objectType Cup_bar__minus_03_dot_16_bar__plus_00_dot_90_bar__minus_00_dot_20 CupType) + (objectType PepperShaker_bar__minus_00_dot_40_bar__plus_00_dot_94_bar__minus_02_dot_73 PepperShakerType) + (objectType StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_02_dot_29 StoveKnobType) + (objectType StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_01_dot_98 StoveKnobType) + (objectType SoapBottle_bar__minus_01_dot_00_bar__plus_00_dot_94_bar__minus_03_dot_85 SoapBottleType) + (objectType Plate_bar__minus_03_dot_60_bar__plus_00_dot_77_bar__minus_03_dot_26 PlateType) + (objectType ButterKnife_bar__minus_04_dot_12_bar__plus_00_dot_69_bar__minus_00_dot_25 ButterKnifeType) + (objectType ButterKnife_bar__minus_00_dot_72_bar__plus_00_dot_81_bar__minus_03_dot_49 ButterKnifeType) + (objectType DishSponge_bar__minus_00_dot_59_bar__plus_00_dot_81_bar__minus_03_dot_28 DishSpongeType) + (objectType Bread_bar__minus_02_dot_99_bar__plus_00_dot_96_bar__minus_00_dot_29 BreadType) + (objectType Lettuce_bar__minus_03_dot_70_bar__plus_00_dot_85_bar__minus_03_dot_50 LettuceType) + (objectType StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_01_dot_83 StoveKnobType) + (objectType DishSponge_bar__minus_00_dot_59_bar__plus_00_dot_81_bar__minus_03_dot_51 DishSpongeType) + (objectType Knife_bar__minus_02_dot_93_bar__plus_00_dot_89_bar__minus_00_dot_46 KnifeType) + (objectType Tomato_bar__minus_00_dot_25_bar__plus_01_dot_34_bar__minus_00_dot_30 TomatoType) + (objectType Potato_bar__minus_03_dot_98_bar__plus_00_dot_79_bar__minus_03_dot_40 PotatoType) + (objectType Tomato_bar__minus_04_dot_06_bar__plus_00_dot_74_bar__minus_00_dot_25 TomatoType) + (objectType Egg_bar__minus_00_dot_46_bar__plus_01_dot_33_bar__minus_00_dot_53 EggType) + (objectType SaltShaker_bar__minus_02_dot_36_bar__plus_00_dot_89_bar__minus_00_dot_20 SaltShakerType) + (objectType Egg_bar__minus_03_dot_90_bar__plus_00_dot_80_bar__minus_03_dot_46 EggType) + (objectType Mug_bar__minus_03_dot_53_bar__plus_00_dot_76_bar__minus_03_dot_79 MugType) + (objectType LightSwitch_bar__minus_04_dot_37_bar__plus_01_dot_49_bar__minus_01_dot_03 LightSwitchType) + (objectType Spatula_bar__minus_03_dot_88_bar__plus_00_dot_71_bar__minus_00_dot_43 SpatulaType) + (objectType SoapBottle_bar__minus_00_dot_43_bar__plus_00_dot_08_bar__minus_01_dot_33 SoapBottleType) + (objectType 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Bread_bar__minus_03_dot_35_bar__plus_00_dot_84_bar__minus_03_dot_48) + (heatable Apple_bar__minus_00_dot_40_bar__plus_01_dot_55_bar__minus_00_dot_65) + (heatable Cup_bar__minus_00_dot_24_bar__plus_01_dot_94_bar__minus_02_dot_23) + (heatable Potato_bar__minus_00_dot_39_bar__plus_00_dot_85_bar__minus_03_dot_24) + (coolable Cup_bar__minus_03_dot_16_bar__plus_00_dot_90_bar__minus_00_dot_20) + (coolable Plate_bar__minus_03_dot_60_bar__plus_00_dot_77_bar__minus_03_dot_26) + (coolable Bread_bar__minus_02_dot_99_bar__plus_00_dot_96_bar__minus_00_dot_29) + (coolable Lettuce_bar__minus_03_dot_70_bar__plus_00_dot_85_bar__minus_03_dot_50) + (coolable Tomato_bar__minus_00_dot_25_bar__plus_01_dot_34_bar__minus_00_dot_30) + (coolable Potato_bar__minus_03_dot_98_bar__plus_00_dot_79_bar__minus_03_dot_40) + (coolable Tomato_bar__minus_04_dot_06_bar__plus_00_dot_74_bar__minus_00_dot_25) + (coolable Egg_bar__minus_00_dot_46_bar__plus_01_dot_33_bar__minus_00_dot_53) + (coolable Egg_bar__minus_03_dot_90_bar__plus_00_dot_80_bar__minus_03_dot_46) + (coolable Mug_bar__minus_03_dot_53_bar__plus_00_dot_76_bar__minus_03_dot_79) + (coolable Pot_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_01_dot_85) + (coolable Bread_bar__minus_03_dot_35_bar__plus_00_dot_84_bar__minus_03_dot_48) + (coolable Lettuce_bar__minus_04_dot_00_bar__plus_00_dot_78_bar__minus_00_dot_43) + (coolable Apple_bar__minus_00_dot_40_bar__plus_01_dot_55_bar__minus_00_dot_65) + (coolable Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_02_dot_22) + (coolable Cup_bar__minus_00_dot_24_bar__plus_01_dot_94_bar__minus_02_dot_23) + (coolable Bowl_bar__minus_00_dot_21_bar__plus_01_dot_50_bar__minus_01_dot_41) + (coolable Potato_bar__minus_00_dot_39_bar__plus_00_dot_85_bar__minus_03_dot_24) + + + + + + (sliceable Bread_bar__minus_02_dot_99_bar__plus_00_dot_96_bar__minus_00_dot_29) + (sliceable Lettuce_bar__minus_03_dot_70_bar__plus_00_dot_85_bar__minus_03_dot_50) + (sliceable Tomato_bar__minus_00_dot_25_bar__plus_01_dot_34_bar__minus_00_dot_30) + (sliceable Potato_bar__minus_03_dot_98_bar__plus_00_dot_79_bar__minus_03_dot_40) + (sliceable Tomato_bar__minus_04_dot_06_bar__plus_00_dot_74_bar__minus_00_dot_25) + (sliceable Egg_bar__minus_00_dot_46_bar__plus_01_dot_33_bar__minus_00_dot_53) + (sliceable Egg_bar__minus_03_dot_90_bar__plus_00_dot_80_bar__minus_03_dot_46) + (sliceable Bread_bar__minus_03_dot_35_bar__plus_00_dot_84_bar__minus_03_dot_48) + (sliceable Lettuce_bar__minus_04_dot_00_bar__plus_00_dot_78_bar__minus_00_dot_43) + (sliceable Apple_bar__minus_00_dot_40_bar__plus_01_dot_55_bar__minus_00_dot_65) + (sliceable Potato_bar__minus_00_dot_39_bar__plus_00_dot_85_bar__minus_03_dot_24) + + (inReceptacle SaltShaker_bar__minus_00_dot_26_bar__plus_00_dot_94_bar__minus_02_dot_93 CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67) + (inReceptacle SoapBottle_bar__minus_01_dot_00_bar__plus_00_dot_94_bar__minus_03_dot_85 CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67) + (inReceptacle PepperShaker_bar__minus_00_dot_40_bar__plus_00_dot_94_bar__minus_02_dot_73 CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67) + (inReceptacle Knife_bar__minus_02_dot_93_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) + (inReceptacle Cup_bar__minus_03_dot_16_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) + (inReceptacle Fork_bar__minus_03_dot_57_bar__plus_00_dot_90_bar__minus_00_dot_29 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44) + (inReceptacle Bread_bar__minus_02_dot_99_bar__plus_00_dot_96_bar__minus_00_dot_29 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44) + (inReceptacle SaltShaker_bar__minus_02_dot_36_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) + (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) + (inReceptacle Potato_bar__minus_03_dot_98_bar__plus_00_dot_79_bar__minus_03_dot_40 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32) + (inReceptacle Plate_bar__minus_03_dot_60_bar__plus_00_dot_77_bar__minus_03_dot_26 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32) + (inReceptacle Bread_bar__minus_03_dot_35_bar__plus_00_dot_84_bar__minus_03_dot_48 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32) + (inReceptacle Egg_bar__minus_03_dot_90_bar__plus_00_dot_80_bar__minus_03_dot_46 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32) + (inReceptacle ButterKnife_bar__minus_04_dot_06_bar__plus_00_dot_76_bar__minus_03_dot_17 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32) + (inReceptacle Mug_bar__minus_03_dot_53_bar__plus_00_dot_76_bar__minus_03_dot_79 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32) + (inReceptacle Lettuce_bar__minus_03_dot_70_bar__plus_00_dot_85_bar__minus_03_dot_50 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32) + (inReceptacle Pot_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) + (inReceptacle Pot_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) + (inReceptacle Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_02_dot_22 StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_02_dot_24) + (inReceptacle Spoon_bar__minus_00_dot_58_bar__plus_00_dot_75_bar__minus_01_dot_45 Drawer_bar__minus_00_dot_50_bar__plus_00_dot_78_bar__minus_01_dot_45) + (inReceptacle Spoon_bar__minus_00_dot_54_bar__plus_00_dot_75_bar__minus_02_dot_85 Drawer_bar__minus_00_dot_48_bar__plus_00_dot_78_bar__minus_02_dot_74) + (inReceptacle Cup_bar__minus_00_dot_24_bar__plus_01_dot_94_bar__minus_02_dot_23 Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_02_dot_50) + (inReceptacle Bowl_bar__minus_00_dot_21_bar__plus_01_dot_50_bar__minus_01_dot_41 Cabinet_bar__minus_00_dot_34_bar__plus_01_dot_89_bar__minus_01_dot_29) + (inReceptacle SoapBottle_bar__minus_00_dot_43_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 Spatula_bar__minus_03_dot_88_bar__plus_00_dot_71_bar__minus_00_dot_43 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31) + (inReceptacle Tomato_bar__minus_04_dot_06_bar__plus_00_dot_74_bar__minus_00_dot_25 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31) + (inReceptacle Lettuce_bar__minus_04_dot_00_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) + (inReceptacle ButterKnife_bar__minus_04_dot_12_bar__plus_00_dot_69_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_04_dot_18_bar__plus_00_dot_69_bar__minus_00_dot_31 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31) + (inReceptacle Knife_bar__minus_00_dot_39_bar__plus_00_dot_97_bar__minus_01_dot_54 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_02_dot_22 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 ButterKnife_bar__minus_00_dot_72_bar__plus_00_dot_81_bar__minus_03_dot_49 Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39_bar_SinkBasin) + (inReceptacle Potato_bar__minus_00_dot_39_bar__plus_00_dot_85_bar__minus_03_dot_24 Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39_bar_SinkBasin) + (inReceptacle DishSponge_bar__minus_00_dot_59_bar__plus_00_dot_81_bar__minus_03_dot_28 Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39_bar_SinkBasin) + (inReceptacle DishSponge_bar__minus_00_dot_59_bar__plus_00_dot_81_bar__minus_03_dot_51 Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39_bar_SinkBasin) + (inReceptacle Tomato_bar__minus_00_dot_25_bar__plus_01_dot_34_bar__minus_00_dot_30 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65) + (inReceptacle Egg_bar__minus_00_dot_46_bar__plus_01_dot_33_bar__minus_00_dot_53 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65) + (inReceptacle Apple_bar__minus_00_dot_40_bar__plus_01_dot_55_bar__minus_00_dot_65 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65) + + + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (objectAtLocation Lettuce_bar__minus_03_dot_70_bar__plus_00_dot_85_bar__minus_03_dot_50 loc_bar__minus_14_bar__minus_9_bar_2_bar_45) + (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) + (objectAtLocation Egg_bar__minus_00_dot_46_bar__plus_01_dot_33_bar__minus_00_dot_53 loc_bar__minus_5_bar__minus_3_bar_1_bar_60) + (objectAtLocation Potato_bar__minus_03_dot_98_bar__plus_00_dot_79_bar__minus_03_dot_40 loc_bar__minus_14_bar__minus_9_bar_2_bar_45) + (objectAtLocation 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}, + "rotation": { + "x": 270.027954, + "y": 266.094055, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_6f13b4f9", + "position": { + "x": -0.263186455, + "y": 0.938606143, + "z": -2.93443346 + }, + "rotation": { + "x": 0.0, + "y": 44.9999962, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_8ae9f292", + "position": { + "x": -4.182487, + "y": 0.6868062, + "z": -0.309 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_e676ac70", + "position": { + "x": -4.122419, + "y": 0.6905421, + "z": -0.248166 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_4eadea0d", + "position": { + "x": -0.3970446, + "y": 1.55012226, + "z": -0.6459999 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_7e2c9e01", + "position": { + "x": -0.5870441, + "y": 0.8130311, + "z": -3.27936649 + }, + "rotation": { + "x": 9.923132e-15, + "y": 315.000031, + "z": -9.92312e-15 + } + }, + { + "objectName": "Potato_5e3edff7", + "position": { + "x": -3.97512817, + "y": 0.79206425, + "z": -3.39641666 + }, + "rotation": { + "x": 0.0, + "y": 109.125885, + "z": 0.0 + } + }, + { + "objectName": "Egg_571582a1", + "position": { + "x": -0.4587371, + "y": 1.327666, + "z": -0.5296887 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "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": -3.70451212, + "y": 0.8510728, + "z": -3.50029922 + }, + "rotation": { + "x": 0.0, + "y": 244.125916, + "z": 0.0 + } + }, + { + "objectName": "Mug_f3c7368a", + "position": { + "x": -3.53068018, + "y": 0.7550884, + "z": -3.793223 + }, + "rotation": { + "x": 0.0, + "y": 334.125916, + "z": 0.0 + } + }, + { + "objectName": "Bowl_1f51c27f", + "position": { + "x": -0.212670952, + "y": 1.50094366, + "z": -1.40925336 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 4033520949, + "scene_num": 28 + }, + "task_id": "trial_T20190908_012724_604877", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1ELPYAFO7MANS_32AT8R96GOQ50YO4VE3RI4RFPPJUSG", + "high_descs": [ + "Turn right and walk to the part of the table closest to the door.", + "Pick up the patterned plate on the table.", + "Turn around and veer left to the microwave.", + "Heat the plate in the microwave.", + "Walk back to the same part of the table closest to the door.", + "Place the plate on the table near the edge." + ], + "task_desc": "Place a heated plate on a table.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AFU00NU09CFXE_3J4Q2Z4UT1K6FMYWYATN5SXBSGEWQV", + "high_descs": [ + "Move to stand in front of the coffee maker, but facing the round table.", + "Pick up the gray and black plate from the table. ", + "Carry the plate to stand in front of the stove.", + "Open the microwave above the stove, place the plate inside, turn it on, and then remove, once heated.", + "Carry the plate back to the round table in the corner.", + "Place the plate on the table." + ], + "task_desc": "Place a heated plate on the round table.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AD0NVUGLDYDYN_3ZQIG0FLQHXYKUUDK9NXBFWJ99TVWQ", + "high_descs": [ + "turn right, walk to the counter, turn right to the table", + "grab the plate on the table", + "turn around, walk to the stove", + "open the microwave on top, put the plate in, heat the plate for a while, take the plate out", + "turn around, walk to the table on the left", + "put the plate on the table" + ], + "task_desc": "heat the plate in the microwave, put the plate on the table", + "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-CellPhone-None-Dresser-330/trial_T20190909_060750_241366/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CellPhone-None-Dresser-330/trial_T20190909_060750_241366/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..6cc5974eaa3d4590192b373b209966a9f0cbb336 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CellPhone-None-Dresser-330/trial_T20190909_060750_241366/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 cellphone and put them in dresser.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_060750_241366)\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_58_bar__plus_00_dot_68_bar__plus_02_dot_17 - object\n Blinds_bar__minus_01_dot_06_bar__plus_02_dot_36_bar__minus_03_dot_17 - object\n Book_bar__minus_01_dot_55_bar__plus_00_dot_60_bar__minus_00_dot_63 - object\n Book_bar__minus_01_dot_61_bar__plus_00_dot_04_bar__plus_00_dot_26 - object\n Book_bar__minus_01_dot_61_bar__plus_00_dot_41_bar__minus_00_dot_35 - object\n Boots_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__minus_01_dot_08 - object\n Bowl_bar__minus_01_dot_68_bar__plus_01_dot_14_bar__minus_02_dot_30 - object\n CD_bar__plus_02_dot_13_bar__plus_00_dot_44_bar__plus_02_dot_01 - object\n CD_bar__plus_02_dot_59_bar__plus_00_dot_43_bar__plus_01_dot_67 - object\n CellPhone_bar__plus_01_dot_65_bar__plus_00_dot_68_bar__plus_02_dot_22 - object\n CellPhone_bar__plus_01_dot_74_bar__plus_00_dot_78_bar__plus_00_dot_19 - object\n CreditCard_bar__minus_01_dot_72_bar__plus_00_dot_17_bar__minus_02_dot_28 - object\n CreditCard_bar__minus_01_dot_80_bar__plus_00_dot_97_bar__plus_00_dot_26 - object\n HousePlant_bar__minus_01_dot_79_bar__plus_00_dot_97_bar__plus_00_dot_53 - object\n KeyChain_bar__minus_01_dot_44_bar__plus_00_dot_97_bar__minus_00_dot_34 - object\n KeyChain_bar__minus_01_dot_61_bar__plus_01_dot_64_bar__minus_02_dot_19 - object\n KeyChain_bar__minus_01_dot_66_bar__plus_00_dot_97_bar__plus_00_dot_46 - object\n Lamp_bar__plus_01_dot_40_bar__plus_00_dot_67_bar__plus_02_dot_21 - object\n Lamp_bar__plus_02_dot_60_bar__plus_00_dot_67_bar__minus_01_dot_71 - object\n Laptop_bar__plus_01_dot_26_bar__plus_00_dot_77_bar__minus_00_dot_40 - object\n Laptop_bar__plus_01_dot_74_bar__plus_00_dot_77_bar__minus_00_dot_11 - object\n Laptop_bar__minus_01_dot_63_bar__plus_00_dot_97_bar__plus_00_dot_08 - object\n LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_09_bar__plus_02_dot_45 - object\n Mirror_bar__minus_01_dot_95_bar__plus_01_dot_74_bar__minus_00_dot_21 - object\n Painting_bar__plus_00_dot_38_bar__plus_01_dot_98_bar__minus_01_dot_90 - object\n Painting_bar__plus_00_dot_88_bar__plus_01_dot_98_bar__minus_01_dot_90 - object\n Painting_bar__plus_01_dot_37_bar__plus_01_dot_98_bar__minus_01_dot_90 - object\n Pencil_bar__plus_02_dot_38_bar__plus_00_dot_38_bar__minus_01_dot_62 - object\n Pencil_bar__minus_01_dot_70_bar__plus_01_dot_15_bar__minus_02_dot_42 - object\n Pen_bar__minus_01_dot_73_bar__plus_00_dot_98_bar__minus_00_dot_54 - object\n Pillow_bar__plus_00_dot_54_bar__plus_00_dot_84_bar__minus_00_dot_40 - object\n Pillow_bar__plus_00_dot_65_bar__plus_00_dot_79_bar__minus_01_dot_53 - object\n Statue_bar__minus_01_dot_70_bar__plus_01_dot_16_bar__minus_01_dot_96 - object\n Statue_bar__minus_01_dot_76_bar__plus_00_dot_97_bar__minus_00_dot_76 - object\n Vase_bar__minus_01_dot_51_bar__plus_00_dot_98_bar__minus_00_dot_54 - object\n Vase_bar__minus_01_dot_66_bar__plus_01_dot_63_bar__minus_01_dot_79 - object\n Window_bar__minus_01_dot_10_bar__plus_01_dot_57_bar__minus_03_dot_23 - object\n ArmChair_bar__plus_02_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_00 - receptacle\n Bed_bar__plus_01_dot_02_bar__plus_00_dot_06_bar__minus_00_dot_73 - receptacle\n Drawer_bar__plus_01_dot_58_bar__plus_00_dot_17_bar__plus_02_dot_14 - receptacle\n Drawer_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14 - receptacle\n Drawer_bar__plus_02_dot_44_bar__plus_00_dot_17_bar__minus_01_dot_60 - receptacle\n Drawer_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60 - receptacle\n Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__plus_00_dot_26 - receptacle\n Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__minus_00_dot_54 - receptacle\n Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__plus_00_dot_26 - receptacle\n Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__minus_00_dot_54 - receptacle\n Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__plus_00_dot_26 - receptacle\n Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__minus_00_dot_54 - receptacle\n Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__plus_00_dot_26 - receptacle\n Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__minus_00_dot_54 - receptacle\n Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__plus_00_dot_26 - receptacle\n Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_00_dot_54 - receptacle\n Drawer_bar__minus_01_dot_72_bar__plus_00_dot_30_bar__minus_02_dot_07 - receptacle\n Drawer_bar__minus_01_dot_72_bar__plus_00_dot_80_bar__minus_02_dot_07 - receptacle\n Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15 - receptacle\n Dresser_bar__minus_01_dot_77_bar__minus_00_dot_01_bar__minus_02_dot_08 - receptacle\n GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_00_dot_86 - receptacle\n Shelf_bar__minus_01_dot_70_bar__plus_01_dot_14_bar__minus_02_dot_06 - receptacle\n Shelf_bar__minus_01_dot_70_bar__plus_01_dot_63_bar__minus_02_dot_06 - receptacle\n SideTable_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14 - receptacle\n SideTable_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60 - receptacle\n loc_bar__minus_1_bar_2_bar_3_bar_45 - location\n loc_bar__minus_4_bar__minus_2_bar_3_bar_60 - location\n loc_bar__minus_2_bar_1_bar_3_bar_30 - location\n loc_bar__minus_2_bar_3_bar_2_bar_45 - location\n loc_bar__minus_4_bar__minus_9_bar_3_bar_30 - location\n loc_bar__minus_4_bar__minus_8_bar_3_bar_0 - location\n loc_bar__minus_4_bar__minus_4_bar_3_bar_60 - location\n loc_bar__minus_1_bar__minus_1_bar_3_bar_45 - location\n loc_bar_0_bar_3_bar_3_bar_45 - location\n loc_bar_9_bar_3_bar_0_bar_60 - location\n loc_bar_2_bar_5_bar_1_bar_60 - location\n loc_bar__minus_3_bar_2_bar_2_bar_45 - location\n loc_bar__minus_4_bar__minus_8_bar_3_bar_30 - location\n loc_bar__minus_4_bar__minus_10_bar_2_bar__minus_30 - location\n loc_bar_9_bar__minus_2_bar_2_bar_60 - location\n loc_bar_9_bar__minus_3_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_8_bar_3_bar_60 - location\n loc_bar__minus_4_bar__minus_9_bar_3_bar_0 - location\n loc_bar__minus_2_bar__minus_2_bar_3_bar_30 - location\n loc_bar__minus_1_bar_7_bar_0_bar_45 - location\n loc_bar__minus_3_bar__minus_8_bar_1_bar__minus_15 - location\n loc_bar__minus_4_bar__minus_8_bar_3_bar_45 - location\n loc_bar_8_bar_5_bar_0_bar_60 - location\n loc_bar__minus_1_bar_0_bar_3_bar_45 - location\n loc_bar__minus_3_bar__minus_3_bar_0_bar_45 - location\n loc_bar__minus_5_bar_4_bar_3_bar_60 - location\n loc_bar__minus_4_bar__minus_10_bar_2_bar_0 - location\n loc_bar_10_bar__minus_4_bar_2_bar_60 - location\n loc_bar_2_bar_7_bar_1_bar_45 - location\n loc_bar_4_bar_3_bar_2_bar_45 - location\n loc_bar_9_bar__minus_5_bar_3_bar__minus_15 - location\n loc_bar__minus_2_bar_5_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_00_dot_54 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__minus_00_dot_54 DrawerType)\n (receptacleType GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_00_dot_86 GarbageCanType)\n (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__plus_00_dot_26 DrawerType)\n (receptacleType Dresser_bar__minus_01_dot_77_bar__minus_00_dot_01_bar__minus_02_dot_08 DresserType)\n (receptacleType Drawer_bar__plus_01_dot_58_bar__plus_00_dot_17_bar__plus_02_dot_14 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__minus_00_dot_54 DrawerType)\n (receptacleType SideTable_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60 SideTableType)\n (receptacleType Drawer_bar__plus_02_dot_44_bar__plus_00_dot_17_bar__minus_01_dot_60 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_72_bar__plus_00_dot_30_bar__minus_02_dot_07 DrawerType)\n (receptacleType Shelf_bar__minus_01_dot_70_bar__plus_01_dot_63_bar__minus_02_dot_06 ShelfType)\n (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__plus_00_dot_26 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__plus_00_dot_26 DrawerType)\n (receptacleType Bed_bar__plus_01_dot_02_bar__plus_00_dot_06_bar__minus_00_dot_73 BedType)\n (receptacleType ArmChair_bar__plus_02_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_00 ArmChairType)\n (receptacleType SideTable_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14 SideTableType)\n (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__plus_00_dot_26 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__minus_00_dot_54 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_72_bar__plus_00_dot_80_bar__minus_02_dot_07 DrawerType)\n (receptacleType Shelf_bar__minus_01_dot_70_bar__plus_01_dot_14_bar__minus_02_dot_06 ShelfType)\n (receptacleType Drawer_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__plus_00_dot_26 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__minus_00_dot_54 DrawerType)\n (receptacleType Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15 DresserType)\n (objectType KeyChain_bar__minus_01_dot_66_bar__plus_00_dot_97_bar__plus_00_dot_46 KeyChainType)\n (objectType Book_bar__minus_01_dot_61_bar__plus_00_dot_04_bar__plus_00_dot_26 BookType)\n (objectType Pencil_bar__plus_02_dot_38_bar__plus_00_dot_38_bar__minus_01_dot_62 PencilType)\n (objectType CreditCard_bar__minus_01_dot_80_bar__plus_00_dot_97_bar__plus_00_dot_26 CreditCardType)\n (objectType Painting_bar__plus_01_dot_37_bar__plus_01_dot_98_bar__minus_01_dot_90 PaintingType)\n (objectType HousePlant_bar__minus_01_dot_79_bar__plus_00_dot_97_bar__plus_00_dot_53 HousePlantType)\n (objectType Window_bar__minus_01_dot_10_bar__plus_01_dot_57_bar__minus_03_dot_23 WindowType)\n (objectType KeyChain_bar__minus_01_dot_44_bar__plus_00_dot_97_bar__minus_00_dot_34 KeyChainType)\n (objectType AlarmClock_bar__plus_01_dot_58_bar__plus_00_dot_68_bar__plus_02_dot_17 AlarmClockType)\n (objectType Pillow_bar__plus_00_dot_65_bar__plus_00_dot_79_bar__minus_01_dot_53 PillowType)\n (objectType LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_09_bar__plus_02_dot_45 LightSwitchType)\n (objectType KeyChain_bar__minus_01_dot_61_bar__plus_01_dot_64_bar__minus_02_dot_19 KeyChainType)\n (objectType Pencil_bar__minus_01_dot_70_bar__plus_01_dot_15_bar__minus_02_dot_42 PencilType)\n (objectType Laptop_bar__plus_01_dot_26_bar__plus_00_dot_77_bar__minus_00_dot_40 LaptopType)\n (objectType Pen_bar__minus_01_dot_73_bar__plus_00_dot_98_bar__minus_00_dot_54 PenType)\n (objectType Vase_bar__minus_01_dot_66_bar__plus_01_dot_63_bar__minus_01_dot_79 VaseType)\n (objectType Laptop_bar__plus_01_dot_74_bar__plus_00_dot_77_bar__minus_00_dot_11 LaptopType)\n (objectType Statue_bar__minus_01_dot_70_bar__plus_01_dot_16_bar__minus_01_dot_96 StatueType)\n (objectType CellPhone_bar__plus_01_dot_74_bar__plus_00_dot_78_bar__plus_00_dot_19 CellPhoneType)\n (objectType Laptop_bar__minus_01_dot_63_bar__plus_00_dot_97_bar__plus_00_dot_08 LaptopType)\n (objectType Painting_bar__plus_00_dot_38_bar__plus_01_dot_98_bar__minus_01_dot_90 PaintingType)\n (objectType Blinds_bar__minus_01_dot_06_bar__plus_02_dot_36_bar__minus_03_dot_17 BlindsType)\n (objectType Vase_bar__minus_01_dot_51_bar__plus_00_dot_98_bar__minus_00_dot_54 VaseType)\n (objectType Boots_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__minus_01_dot_08 BootsType)\n (objectType CD_bar__plus_02_dot_13_bar__plus_00_dot_44_bar__plus_02_dot_01 CDType)\n (objectType Pillow_bar__plus_00_dot_54_bar__plus_00_dot_84_bar__minus_00_dot_40 PillowType)\n (objectType CD_bar__plus_02_dot_59_bar__plus_00_dot_43_bar__plus_01_dot_67 CDType)\n (objectType Painting_bar__plus_00_dot_88_bar__plus_01_dot_98_bar__minus_01_dot_90 PaintingType)\n (objectType Bowl_bar__minus_01_dot_68_bar__plus_01_dot_14_bar__minus_02_dot_30 BowlType)\n (objectType Mirror_bar__minus_01_dot_95_bar__plus_01_dot_74_bar__minus_00_dot_21 MirrorType)\n (objectType Book_bar__minus_01_dot_55_bar__plus_00_dot_60_bar__minus_00_dot_63 BookType)\n (objectType CreditCard_bar__minus_01_dot_72_bar__plus_00_dot_17_bar__minus_02_dot_28 CreditCardType)\n (objectType CellPhone_bar__plus_01_dot_65_bar__plus_00_dot_68_bar__plus_02_dot_22 CellPhoneType)\n (objectType Statue_bar__minus_01_dot_76_bar__plus_00_dot_97_bar__minus_00_dot_76 StatueType)\n (objectType Book_bar__minus_01_dot_61_bar__plus_00_dot_41_bar__minus_00_dot_35 BookType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain 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 DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType BowlType)\n (canContain DresserType VaseType)\n (canContain DresserType CDType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType LaptopType)\n (canContain DresserType PencilType)\n (canContain DresserType StatueType)\n (canContain DresserType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType 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ArmChairType CreditCardType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType BowlType)\n (canContain SideTableType VaseType)\n (canContain SideTableType CDType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType StatueType)\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 ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType BowlType)\n (canContain ShelfType VaseType)\n (canContain ShelfType CDType)\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 DrawerType PenType)\n (canContain 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KeyChain_bar__minus_01_dot_66_bar__plus_00_dot_97_bar__plus_00_dot_46)\n (pickupable Book_bar__minus_01_dot_61_bar__plus_00_dot_04_bar__plus_00_dot_26)\n (pickupable Pencil_bar__plus_02_dot_38_bar__plus_00_dot_38_bar__minus_01_dot_62)\n (pickupable CreditCard_bar__minus_01_dot_80_bar__plus_00_dot_97_bar__plus_00_dot_26)\n (pickupable KeyChain_bar__minus_01_dot_44_bar__plus_00_dot_97_bar__minus_00_dot_34)\n (pickupable AlarmClock_bar__plus_01_dot_58_bar__plus_00_dot_68_bar__plus_02_dot_17)\n (pickupable Pillow_bar__plus_00_dot_65_bar__plus_00_dot_79_bar__minus_01_dot_53)\n (pickupable KeyChain_bar__minus_01_dot_61_bar__plus_01_dot_64_bar__minus_02_dot_19)\n (pickupable Pencil_bar__minus_01_dot_70_bar__plus_01_dot_15_bar__minus_02_dot_42)\n (pickupable Laptop_bar__plus_01_dot_26_bar__plus_00_dot_77_bar__minus_00_dot_40)\n (pickupable Pen_bar__minus_01_dot_73_bar__plus_00_dot_98_bar__minus_00_dot_54)\n (pickupable Vase_bar__minus_01_dot_66_bar__plus_01_dot_63_bar__minus_01_dot_79)\n (pickupable Laptop_bar__plus_01_dot_74_bar__plus_00_dot_77_bar__minus_00_dot_11)\n (pickupable Statue_bar__minus_01_dot_70_bar__plus_01_dot_16_bar__minus_01_dot_96)\n (pickupable CellPhone_bar__plus_01_dot_74_bar__plus_00_dot_78_bar__plus_00_dot_19)\n (pickupable Laptop_bar__minus_01_dot_63_bar__plus_00_dot_97_bar__plus_00_dot_08)\n (pickupable Vase_bar__minus_01_dot_51_bar__plus_00_dot_98_bar__minus_00_dot_54)\n (pickupable Boots_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__minus_01_dot_08)\n (pickupable CD_bar__plus_02_dot_13_bar__plus_00_dot_44_bar__plus_02_dot_01)\n (pickupable Pillow_bar__plus_00_dot_54_bar__plus_00_dot_84_bar__minus_00_dot_40)\n (pickupable CD_bar__plus_02_dot_59_bar__plus_00_dot_43_bar__plus_01_dot_67)\n (pickupable Bowl_bar__minus_01_dot_68_bar__plus_01_dot_14_bar__minus_02_dot_30)\n (pickupable Book_bar__minus_01_dot_55_bar__plus_00_dot_60_bar__minus_00_dot_63)\n (pickupable CreditCard_bar__minus_01_dot_72_bar__plus_00_dot_17_bar__minus_02_dot_28)\n (pickupable CellPhone_bar__plus_01_dot_65_bar__plus_00_dot_68_bar__plus_02_dot_22)\n (pickupable Statue_bar__minus_01_dot_76_bar__plus_00_dot_97_bar__minus_00_dot_76)\n (pickupable Book_bar__minus_01_dot_61_bar__plus_00_dot_41_bar__minus_00_dot_35)\n (isReceptacleObject Bowl_bar__minus_01_dot_68_bar__plus_01_dot_14_bar__minus_02_dot_30)\n (openable Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_00_dot_54)\n (openable Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__minus_00_dot_54)\n (openable Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__plus_00_dot_26)\n (openable Drawer_bar__plus_01_dot_58_bar__plus_00_dot_17_bar__plus_02_dot_14)\n (openable Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__minus_00_dot_54)\n (openable Drawer_bar__plus_02_dot_44_bar__plus_00_dot_17_bar__minus_01_dot_60)\n (openable Drawer_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60)\n (openable Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__plus_00_dot_26)\n (openable Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__plus_00_dot_26)\n (openable Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__plus_00_dot_26)\n (openable Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__minus_00_dot_54)\n (openable Drawer_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14)\n (openable Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__plus_00_dot_26)\n (openable Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__minus_00_dot_54)\n \n (atLocation agent1 loc_bar__minus_2_bar_5_bar_2_bar_30)\n \n (cleanable Bowl_bar__minus_01_dot_68_bar__plus_01_dot_14_bar__minus_02_dot_30)\n \n \n (coolable Bowl_bar__minus_01_dot_68_bar__plus_01_dot_14_bar__minus_02_dot_30)\n \n \n \n \n \n \n \n (inReceptacle AlarmClock_bar__plus_01_dot_58_bar__plus_00_dot_68_bar__plus_02_dot_17 SideTable_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14)\n (inReceptacle CellPhone_bar__plus_01_dot_65_bar__plus_00_dot_68_bar__plus_02_dot_22 SideTable_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14)\n (inReceptacle Book_bar__minus_01_dot_61_bar__plus_00_dot_41_bar__minus_00_dot_35 Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__minus_00_dot_54)\n (inReceptacle CreditCard_bar__minus_01_dot_72_bar__plus_00_dot_17_bar__minus_02_dot_28 Drawer_bar__minus_01_dot_72_bar__plus_00_dot_30_bar__minus_02_dot_07)\n (inReceptacle CD_bar__plus_02_dot_13_bar__plus_00_dot_44_bar__plus_02_dot_01 ArmChair_bar__plus_02_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_00)\n (inReceptacle CD_bar__plus_02_dot_59_bar__plus_00_dot_43_bar__plus_01_dot_67 ArmChair_bar__plus_02_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_00)\n (inReceptacle Book_bar__minus_01_dot_61_bar__plus_00_dot_04_bar__plus_00_dot_26 Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__plus_00_dot_26)\n (inReceptacle Pencil_bar__plus_02_dot_38_bar__plus_00_dot_38_bar__minus_01_dot_62 Drawer_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60)\n (inReceptacle Book_bar__minus_01_dot_55_bar__plus_00_dot_60_bar__minus_00_dot_63 Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__minus_00_dot_54)\n (inReceptacle Mirror_bar__minus_01_dot_95_bar__plus_01_dot_74_bar__minus_00_dot_21 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15)\n (inReceptacle KeyChain_bar__minus_01_dot_66_bar__plus_00_dot_97_bar__plus_00_dot_46 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15)\n (inReceptacle Laptop_bar__minus_01_dot_63_bar__plus_00_dot_97_bar__plus_00_dot_08 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15)\n (inReceptacle Vase_bar__minus_01_dot_51_bar__plus_00_dot_98_bar__minus_00_dot_54 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15)\n (inReceptacle CreditCard_bar__minus_01_dot_80_bar__plus_00_dot_97_bar__plus_00_dot_26 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15)\n (inReceptacle HousePlant_bar__minus_01_dot_79_bar__plus_00_dot_97_bar__plus_00_dot_53 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15)\n (inReceptacle Pen_bar__minus_01_dot_73_bar__plus_00_dot_98_bar__minus_00_dot_54 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15)\n (inReceptacle Statue_bar__minus_01_dot_76_bar__plus_00_dot_97_bar__minus_00_dot_76 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15)\n (inReceptacle KeyChain_bar__minus_01_dot_44_bar__plus_00_dot_97_bar__minus_00_dot_34 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15)\n (inReceptacle Laptop_bar__plus_01_dot_26_bar__plus_00_dot_77_bar__minus_00_dot_40 Bed_bar__plus_01_dot_02_bar__plus_00_dot_06_bar__minus_00_dot_73)\n (inReceptacle Laptop_bar__plus_01_dot_74_bar__plus_00_dot_77_bar__minus_00_dot_11 Bed_bar__plus_01_dot_02_bar__plus_00_dot_06_bar__minus_00_dot_73)\n (inReceptacle Pillow_bar__plus_00_dot_65_bar__plus_00_dot_79_bar__minus_01_dot_53 Bed_bar__plus_01_dot_02_bar__plus_00_dot_06_bar__minus_00_dot_73)\n (inReceptacle Pillow_bar__plus_00_dot_54_bar__plus_00_dot_84_bar__minus_00_dot_40 Bed_bar__plus_01_dot_02_bar__plus_00_dot_06_bar__minus_00_dot_73)\n (inReceptacle CellPhone_bar__plus_01_dot_74_bar__plus_00_dot_78_bar__plus_00_dot_19 Bed_bar__plus_01_dot_02_bar__plus_00_dot_06_bar__minus_00_dot_73)\n (inReceptacle Statue_bar__minus_01_dot_70_bar__plus_01_dot_16_bar__minus_01_dot_96 Shelf_bar__minus_01_dot_70_bar__plus_01_dot_14_bar__minus_02_dot_06)\n (inReceptacle Pencil_bar__minus_01_dot_70_bar__plus_01_dot_15_bar__minus_02_dot_42 Shelf_bar__minus_01_dot_70_bar__plus_01_dot_14_bar__minus_02_dot_06)\n (inReceptacle Bowl_bar__minus_01_dot_68_bar__plus_01_dot_14_bar__minus_02_dot_30 Shelf_bar__minus_01_dot_70_bar__plus_01_dot_14_bar__minus_02_dot_06)\n (inReceptacle Vase_bar__minus_01_dot_66_bar__plus_01_dot_63_bar__minus_01_dot_79 Shelf_bar__minus_01_dot_70_bar__plus_01_dot_63_bar__minus_02_dot_06)\n (inReceptacleObject Pencil_bar__minus_01_dot_70_bar__plus_01_dot_15_bar__minus_02_dot_42 Bowl_bar__minus_01_dot_68_bar__plus_01_dot_14_bar__minus_02_dot_30)\n \n \n (receptacleAtLocation ArmChair_bar__plus_02_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_00 loc_bar_9_bar_3_bar_0_bar_60)\n (receptacleAtLocation Bed_bar__plus_01_dot_02_bar__plus_00_dot_06_bar__minus_00_dot_73 loc_bar_4_bar_3_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_58_bar__plus_00_dot_17_bar__plus_02_dot_14 loc_bar_2_bar_5_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14 loc_bar_8_bar_5_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_44_bar__plus_00_dot_17_bar__minus_01_dot_60 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60 loc_bar_9_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__plus_00_dot_26 loc_bar_0_bar_3_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__minus_00_dot_54 loc_bar__minus_2_bar_3_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__plus_00_dot_26 loc_bar__minus_1_bar__minus_1_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__minus_00_dot_54 loc_bar__minus_1_bar_0_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__plus_00_dot_26 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__minus_00_dot_54 loc_bar__minus_1_bar__minus_1_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__plus_00_dot_26 loc_bar__minus_3_bar__minus_3_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__minus_00_dot_54 loc_bar__minus_3_bar_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__plus_00_dot_26 loc_bar__minus_2_bar_1_bar_3_bar_30)\n (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_00_dot_54 loc_bar__minus_2_bar__minus_2_bar_3_bar_30)\n (receptacleAtLocation Drawer_bar__minus_01_dot_72_bar__plus_00_dot_30_bar__minus_02_dot_07 loc_bar__minus_4_bar__minus_8_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_72_bar__plus_00_dot_80_bar__minus_02_dot_07 loc_bar__minus_4_bar__minus_8_bar_3_bar_45)\n (receptacleAtLocation Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15 loc_bar__minus_4_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Dresser_bar__minus_01_dot_77_bar__minus_00_dot_01_bar__minus_02_dot_08 loc_bar__minus_4_bar__minus_8_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_00_dot_86 loc_bar__minus_5_bar_4_bar_3_bar_60)\n (receptacleAtLocation Shelf_bar__minus_01_dot_70_bar__plus_01_dot_14_bar__minus_02_dot_06 loc_bar__minus_4_bar__minus_8_bar_3_bar_30)\n (receptacleAtLocation Shelf_bar__minus_01_dot_70_bar__plus_01_dot_63_bar__minus_02_dot_06 loc_bar__minus_4_bar__minus_8_bar_3_bar_0)\n (receptacleAtLocation SideTable_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14 loc_bar_2_bar_7_bar_1_bar_45)\n (receptacleAtLocation SideTable_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60 loc_bar_10_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Statue_bar__minus_01_dot_76_bar__plus_00_dot_97_bar__minus_00_dot_76 loc_bar__minus_4_bar__minus_2_bar_3_bar_60)\n (objectAtLocation CD_bar__plus_02_dot_13_bar__plus_00_dot_44_bar__plus_02_dot_01 loc_bar_9_bar_3_bar_0_bar_60)\n (objectAtLocation CellPhone_bar__plus_01_dot_74_bar__plus_00_dot_78_bar__plus_00_dot_19 loc_bar_4_bar_3_bar_2_bar_45)\n (objectAtLocation CreditCard_bar__minus_01_dot_72_bar__plus_00_dot_17_bar__minus_02_dot_28 loc_bar__minus_4_bar__minus_8_bar_3_bar_60)\n (objectAtLocation Pencil_bar__minus_01_dot_70_bar__plus_01_dot_15_bar__minus_02_dot_42 loc_bar__minus_4_bar__minus_9_bar_3_bar_30)\n (objectAtLocation Laptop_bar__minus_01_dot_63_bar__plus_00_dot_97_bar__plus_00_dot_08 loc_bar__minus_4_bar__minus_2_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__minus_01_dot_66_bar__plus_00_dot_97_bar__plus_00_dot_46 loc_bar__minus_4_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Book_bar__minus_01_dot_55_bar__plus_00_dot_60_bar__minus_00_dot_63 loc_bar__minus_3_bar_2_bar_2_bar_45)\n (objectAtLocation Laptop_bar__plus_01_dot_26_bar__plus_00_dot_77_bar__minus_00_dot_40 loc_bar_4_bar_3_bar_2_bar_45)\n (objectAtLocation Book_bar__minus_01_dot_61_bar__plus_00_dot_41_bar__minus_00_dot_35 loc_bar__minus_1_bar__minus_1_bar_3_bar_45)\n (objectAtLocation KeyChain_bar__minus_01_dot_61_bar__plus_01_dot_64_bar__minus_02_dot_19 loc_bar__minus_4_bar__minus_9_bar_3_bar_0)\n (objectAtLocation Book_bar__minus_01_dot_61_bar__plus_00_dot_04_bar__plus_00_dot_26 loc_bar_0_bar_3_bar_3_bar_45)\n (objectAtLocation KeyChain_bar__minus_01_dot_44_bar__plus_00_dot_97_bar__minus_00_dot_34 loc_bar__minus_4_bar__minus_2_bar_3_bar_60)\n (objectAtLocation AlarmClock_bar__plus_01_dot_58_bar__plus_00_dot_68_bar__plus_02_dot_17 loc_bar_2_bar_7_bar_1_bar_45)\n (objectAtLocation Pillow_bar__plus_00_dot_54_bar__plus_00_dot_84_bar__minus_00_dot_40 loc_bar_4_bar_3_bar_2_bar_45)\n (objectAtLocation Pillow_bar__plus_00_dot_65_bar__plus_00_dot_79_bar__minus_01_dot_53 loc_bar_4_bar_3_bar_2_bar_45)\n (objectAtLocation Vase_bar__minus_01_dot_66_bar__plus_01_dot_63_bar__minus_01_dot_79 loc_bar__minus_4_bar__minus_8_bar_3_bar_0)\n (objectAtLocation HousePlant_bar__minus_01_dot_79_bar__plus_00_dot_97_bar__plus_00_dot_53 loc_bar__minus_4_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Laptop_bar__plus_01_dot_74_bar__plus_00_dot_77_bar__minus_00_dot_11 loc_bar_4_bar_3_bar_2_bar_45)\n (objectAtLocation Vase_bar__minus_01_dot_51_bar__plus_00_dot_98_bar__minus_00_dot_54 loc_bar__minus_4_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Pencil_bar__plus_02_dot_38_bar__plus_00_dot_38_bar__minus_01_dot_62 loc_bar_9_bar__minus_3_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_80_bar__plus_00_dot_97_bar__plus_00_dot_26 loc_bar__minus_4_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Boots_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__minus_01_dot_08 loc_bar__minus_4_bar__minus_4_bar_3_bar_60)\n (objectAtLocation Painting_bar__plus_00_dot_38_bar__plus_01_dot_98_bar__minus_01_dot_90 loc_bar__minus_3_bar__minus_8_bar_1_bar__minus_15)\n (objectAtLocation Painting_bar__plus_00_dot_88_bar__plus_01_dot_98_bar__minus_01_dot_90 loc_bar__minus_3_bar__minus_8_bar_1_bar__minus_15)\n (objectAtLocation Painting_bar__plus_01_dot_37_bar__plus_01_dot_98_bar__minus_01_dot_90 loc_bar_9_bar__minus_5_bar_3_bar__minus_15)\n (objectAtLocation Pen_bar__minus_01_dot_73_bar__plus_00_dot_98_bar__minus_00_dot_54 loc_bar__minus_4_bar__minus_2_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_09_bar__plus_02_dot_45 loc_bar__minus_1_bar_7_bar_0_bar_45)\n (objectAtLocation Mirror_bar__minus_01_dot_95_bar__plus_01_dot_74_bar__minus_00_dot_21 loc_bar__minus_4_bar__minus_2_bar_3_bar_60)\n (objectAtLocation CellPhone_bar__plus_01_dot_65_bar__plus_00_dot_68_bar__plus_02_dot_22 loc_bar_2_bar_7_bar_1_bar_45)\n (objectAtLocation CD_bar__plus_02_dot_59_bar__plus_00_dot_43_bar__plus_01_dot_67 loc_bar_9_bar_3_bar_0_bar_60)\n (objectAtLocation Window_bar__minus_01_dot_10_bar__plus_01_dot_57_bar__minus_03_dot_23 loc_bar__minus_4_bar__minus_10_bar_2_bar_0)\n (objectAtLocation Bowl_bar__minus_01_dot_68_bar__plus_01_dot_14_bar__minus_02_dot_30 loc_bar__minus_4_bar__minus_8_bar_3_bar_30)\n (objectAtLocation Statue_bar__minus_01_dot_70_bar__plus_01_dot_16_bar__minus_01_dot_96 loc_bar__minus_4_bar__minus_8_bar_3_bar_30)\n (objectAtLocation Blinds_bar__minus_01_dot_06_bar__plus_02_dot_36_bar__minus_03_dot_17 loc_bar__minus_4_bar__minus_10_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 CellPhoneType)\n (receptacleType ?r DresserType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 CellPhoneType)\n (receptacleType ?r DresserType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sidetable 2", "take cellphone 2 from sidetable 2", "go to dresser 2", "move cellphone 2 to dresser 2", "go to bed 1", "take cellphone 1 from bed 1", "go to dresser 2", "move cellphone 1 to dresser 2"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CellPhone-None-Dresser-330/trial_T20190909_060750_241366/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CellPhone-None-Dresser-330/trial_T20190909_060750_241366/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..636a89115a16e60d7fa5c325d6f745ba8550ae00 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CellPhone-None-Dresser-330/trial_T20190909_060750_241366/initial_state.pddl @@ -0,0 +1,722 @@ + +(define (problem plan_trial_T20190909_060750_241366) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_58_bar__plus_00_dot_68_bar__plus_02_dot_17 - object + Blinds_bar__minus_01_dot_06_bar__plus_02_dot_36_bar__minus_03_dot_17 - object + Book_bar__minus_01_dot_55_bar__plus_00_dot_60_bar__minus_00_dot_63 - object + Book_bar__minus_01_dot_61_bar__plus_00_dot_04_bar__plus_00_dot_26 - object + Book_bar__minus_01_dot_61_bar__plus_00_dot_41_bar__minus_00_dot_35 - object + Boots_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__minus_01_dot_08 - object + Bowl_bar__minus_01_dot_68_bar__plus_01_dot_14_bar__minus_02_dot_30 - object + CD_bar__plus_02_dot_13_bar__plus_00_dot_44_bar__plus_02_dot_01 - object + CD_bar__plus_02_dot_59_bar__plus_00_dot_43_bar__plus_01_dot_67 - object + CellPhone_bar__plus_01_dot_65_bar__plus_00_dot_68_bar__plus_02_dot_22 - object + CellPhone_bar__plus_01_dot_74_bar__plus_00_dot_78_bar__plus_00_dot_19 - object + CreditCard_bar__minus_01_dot_72_bar__plus_00_dot_17_bar__minus_02_dot_28 - object + CreditCard_bar__minus_01_dot_80_bar__plus_00_dot_97_bar__plus_00_dot_26 - object + HousePlant_bar__minus_01_dot_79_bar__plus_00_dot_97_bar__plus_00_dot_53 - object + KeyChain_bar__minus_01_dot_44_bar__plus_00_dot_97_bar__minus_00_dot_34 - object + KeyChain_bar__minus_01_dot_61_bar__plus_01_dot_64_bar__minus_02_dot_19 - object + KeyChain_bar__minus_01_dot_66_bar__plus_00_dot_97_bar__plus_00_dot_46 - object + Lamp_bar__plus_01_dot_40_bar__plus_00_dot_67_bar__plus_02_dot_21 - object + Lamp_bar__plus_02_dot_60_bar__plus_00_dot_67_bar__minus_01_dot_71 - object + Laptop_bar__plus_01_dot_26_bar__plus_00_dot_77_bar__minus_00_dot_40 - object + Laptop_bar__plus_01_dot_74_bar__plus_00_dot_77_bar__minus_00_dot_11 - object + Laptop_bar__minus_01_dot_63_bar__plus_00_dot_97_bar__plus_00_dot_08 - object + LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_09_bar__plus_02_dot_45 - object + Mirror_bar__minus_01_dot_95_bar__plus_01_dot_74_bar__minus_00_dot_21 - object + Painting_bar__plus_00_dot_38_bar__plus_01_dot_98_bar__minus_01_dot_90 - object + Painting_bar__plus_00_dot_88_bar__plus_01_dot_98_bar__minus_01_dot_90 - object + Painting_bar__plus_01_dot_37_bar__plus_01_dot_98_bar__minus_01_dot_90 - object + Pencil_bar__plus_02_dot_38_bar__plus_00_dot_38_bar__minus_01_dot_62 - object + Pencil_bar__minus_01_dot_70_bar__plus_01_dot_15_bar__minus_02_dot_42 - object + Pen_bar__minus_01_dot_73_bar__plus_00_dot_98_bar__minus_00_dot_54 - object + Pillow_bar__plus_00_dot_54_bar__plus_00_dot_84_bar__minus_00_dot_40 - object + Pillow_bar__plus_00_dot_65_bar__plus_00_dot_79_bar__minus_01_dot_53 - object + Statue_bar__minus_01_dot_70_bar__plus_01_dot_16_bar__minus_01_dot_96 - object + Statue_bar__minus_01_dot_76_bar__plus_00_dot_97_bar__minus_00_dot_76 - object + Vase_bar__minus_01_dot_51_bar__plus_00_dot_98_bar__minus_00_dot_54 - object + Vase_bar__minus_01_dot_66_bar__plus_01_dot_63_bar__minus_01_dot_79 - object + Window_bar__minus_01_dot_10_bar__plus_01_dot_57_bar__minus_03_dot_23 - object + ArmChair_bar__plus_02_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_00 - receptacle + Bed_bar__plus_01_dot_02_bar__plus_00_dot_06_bar__minus_00_dot_73 - receptacle + Drawer_bar__plus_01_dot_58_bar__plus_00_dot_17_bar__plus_02_dot_14 - receptacle + Drawer_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14 - receptacle + Drawer_bar__plus_02_dot_44_bar__plus_00_dot_17_bar__minus_01_dot_60 - receptacle + Drawer_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60 - receptacle + Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__plus_00_dot_26 - receptacle + Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__minus_00_dot_54 - receptacle + Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__plus_00_dot_26 - receptacle + Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__minus_00_dot_54 - receptacle + Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__plus_00_dot_26 - receptacle + Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__minus_00_dot_54 - receptacle + Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__plus_00_dot_26 - receptacle + Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__minus_00_dot_54 - receptacle + Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__plus_00_dot_26 - receptacle + Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_00_dot_54 - receptacle + Drawer_bar__minus_01_dot_72_bar__plus_00_dot_30_bar__minus_02_dot_07 - receptacle + Drawer_bar__minus_01_dot_72_bar__plus_00_dot_80_bar__minus_02_dot_07 - receptacle + Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15 - receptacle + Dresser_bar__minus_01_dot_77_bar__minus_00_dot_01_bar__minus_02_dot_08 - receptacle + GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_00_dot_86 - receptacle + Shelf_bar__minus_01_dot_70_bar__plus_01_dot_14_bar__minus_02_dot_06 - receptacle + Shelf_bar__minus_01_dot_70_bar__plus_01_dot_63_bar__minus_02_dot_06 - receptacle + SideTable_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14 - receptacle + SideTable_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60 - receptacle + loc_bar__minus_1_bar_2_bar_3_bar_45 - location + loc_bar__minus_4_bar__minus_2_bar_3_bar_60 - location + loc_bar__minus_2_bar_1_bar_3_bar_30 - location + loc_bar__minus_2_bar_3_bar_2_bar_45 - location + loc_bar__minus_4_bar__minus_9_bar_3_bar_30 - location + loc_bar__minus_4_bar__minus_8_bar_3_bar_0 - location + loc_bar__minus_4_bar__minus_4_bar_3_bar_60 - location + loc_bar__minus_1_bar__minus_1_bar_3_bar_45 - location + loc_bar_0_bar_3_bar_3_bar_45 - location + loc_bar_9_bar_3_bar_0_bar_60 - location + loc_bar_2_bar_5_bar_1_bar_60 - location + loc_bar__minus_3_bar_2_bar_2_bar_45 - location + loc_bar__minus_4_bar__minus_8_bar_3_bar_30 - location + loc_bar__minus_4_bar__minus_10_bar_2_bar__minus_30 - location + loc_bar_9_bar__minus_2_bar_2_bar_60 - location + loc_bar_9_bar__minus_3_bar_2_bar_60 - location + loc_bar__minus_4_bar__minus_8_bar_3_bar_60 - location + loc_bar__minus_4_bar__minus_9_bar_3_bar_0 - location + loc_bar__minus_2_bar__minus_2_bar_3_bar_30 - location + loc_bar__minus_1_bar_7_bar_0_bar_45 - location + loc_bar__minus_3_bar__minus_8_bar_1_bar__minus_15 - location + loc_bar__minus_4_bar__minus_8_bar_3_bar_45 - location + loc_bar_8_bar_5_bar_0_bar_60 - location + loc_bar__minus_1_bar_0_bar_3_bar_45 - location + loc_bar__minus_3_bar__minus_3_bar_0_bar_45 - location + loc_bar__minus_5_bar_4_bar_3_bar_60 - location + loc_bar__minus_4_bar__minus_10_bar_2_bar_0 - location + loc_bar_10_bar__minus_4_bar_2_bar_60 - location + loc_bar_2_bar_7_bar_1_bar_45 - location + loc_bar_4_bar_3_bar_2_bar_45 - location + loc_bar_9_bar__minus_5_bar_3_bar__minus_15 - location + loc_bar__minus_2_bar_5_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_00_dot_54 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__minus_00_dot_54 DrawerType) + (receptacleType GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_00_dot_86 GarbageCanType) + (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__plus_00_dot_26 DrawerType) + (receptacleType Dresser_bar__minus_01_dot_77_bar__minus_00_dot_01_bar__minus_02_dot_08 DresserType) + (receptacleType Drawer_bar__plus_01_dot_58_bar__plus_00_dot_17_bar__plus_02_dot_14 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__minus_00_dot_54 DrawerType) + (receptacleType SideTable_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60 SideTableType) + (receptacleType Drawer_bar__plus_02_dot_44_bar__plus_00_dot_17_bar__minus_01_dot_60 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_72_bar__plus_00_dot_30_bar__minus_02_dot_07 DrawerType) + (receptacleType Shelf_bar__minus_01_dot_70_bar__plus_01_dot_63_bar__minus_02_dot_06 ShelfType) + (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__plus_00_dot_26 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__plus_00_dot_26 DrawerType) + (receptacleType Bed_bar__plus_01_dot_02_bar__plus_00_dot_06_bar__minus_00_dot_73 BedType) + (receptacleType ArmChair_bar__plus_02_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_00 ArmChairType) + (receptacleType SideTable_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14 SideTableType) + (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__plus_00_dot_26 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__minus_00_dot_54 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_72_bar__plus_00_dot_80_bar__minus_02_dot_07 DrawerType) + (receptacleType Shelf_bar__minus_01_dot_70_bar__plus_01_dot_14_bar__minus_02_dot_06 ShelfType) + (receptacleType Drawer_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__plus_00_dot_26 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__minus_00_dot_54 DrawerType) + (receptacleType Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15 DresserType) + (objectType KeyChain_bar__minus_01_dot_66_bar__plus_00_dot_97_bar__plus_00_dot_46 KeyChainType) + (objectType Book_bar__minus_01_dot_61_bar__plus_00_dot_04_bar__plus_00_dot_26 BookType) + (objectType Pencil_bar__plus_02_dot_38_bar__plus_00_dot_38_bar__minus_01_dot_62 PencilType) + (objectType CreditCard_bar__minus_01_dot_80_bar__plus_00_dot_97_bar__plus_00_dot_26 CreditCardType) + (objectType Painting_bar__plus_01_dot_37_bar__plus_01_dot_98_bar__minus_01_dot_90 PaintingType) + (objectType HousePlant_bar__minus_01_dot_79_bar__plus_00_dot_97_bar__plus_00_dot_53 HousePlantType) + (objectType Window_bar__minus_01_dot_10_bar__plus_01_dot_57_bar__minus_03_dot_23 WindowType) + (objectType KeyChain_bar__minus_01_dot_44_bar__plus_00_dot_97_bar__minus_00_dot_34 KeyChainType) + (objectType AlarmClock_bar__plus_01_dot_58_bar__plus_00_dot_68_bar__plus_02_dot_17 AlarmClockType) + (objectType Pillow_bar__plus_00_dot_65_bar__plus_00_dot_79_bar__minus_01_dot_53 PillowType) + (objectType LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_09_bar__plus_02_dot_45 LightSwitchType) + (objectType KeyChain_bar__minus_01_dot_61_bar__plus_01_dot_64_bar__minus_02_dot_19 KeyChainType) + (objectType Pencil_bar__minus_01_dot_70_bar__plus_01_dot_15_bar__minus_02_dot_42 PencilType) + (objectType Laptop_bar__plus_01_dot_26_bar__plus_00_dot_77_bar__minus_00_dot_40 LaptopType) + (objectType Pen_bar__minus_01_dot_73_bar__plus_00_dot_98_bar__minus_00_dot_54 PenType) + (objectType Vase_bar__minus_01_dot_66_bar__plus_01_dot_63_bar__minus_01_dot_79 VaseType) + (objectType Laptop_bar__plus_01_dot_74_bar__plus_00_dot_77_bar__minus_00_dot_11 LaptopType) + (objectType Statue_bar__minus_01_dot_70_bar__plus_01_dot_16_bar__minus_01_dot_96 StatueType) + (objectType CellPhone_bar__plus_01_dot_74_bar__plus_00_dot_78_bar__plus_00_dot_19 CellPhoneType) + (objectType Laptop_bar__minus_01_dot_63_bar__plus_00_dot_97_bar__plus_00_dot_08 LaptopType) + (objectType Painting_bar__plus_00_dot_38_bar__plus_01_dot_98_bar__minus_01_dot_90 PaintingType) + (objectType Blinds_bar__minus_01_dot_06_bar__plus_02_dot_36_bar__minus_03_dot_17 BlindsType) + (objectType Vase_bar__minus_01_dot_51_bar__plus_00_dot_98_bar__minus_00_dot_54 VaseType) + (objectType Boots_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__minus_01_dot_08 BootsType) + (objectType CD_bar__plus_02_dot_13_bar__plus_00_dot_44_bar__plus_02_dot_01 CDType) + (objectType Pillow_bar__plus_00_dot_54_bar__plus_00_dot_84_bar__minus_00_dot_40 PillowType) + (objectType CD_bar__plus_02_dot_59_bar__plus_00_dot_43_bar__plus_01_dot_67 CDType) + (objectType Painting_bar__plus_00_dot_88_bar__plus_01_dot_98_bar__minus_01_dot_90 PaintingType) + (objectType Bowl_bar__minus_01_dot_68_bar__plus_01_dot_14_bar__minus_02_dot_30 BowlType) + (objectType Mirror_bar__minus_01_dot_95_bar__plus_01_dot_74_bar__minus_00_dot_21 MirrorType) + (objectType Book_bar__minus_01_dot_55_bar__plus_00_dot_60_bar__minus_00_dot_63 BookType) + (objectType CreditCard_bar__minus_01_dot_72_bar__plus_00_dot_17_bar__minus_02_dot_28 CreditCardType) + (objectType CellPhone_bar__plus_01_dot_65_bar__plus_00_dot_68_bar__plus_02_dot_22 CellPhoneType) + (objectType Statue_bar__minus_01_dot_76_bar__plus_00_dot_97_bar__minus_00_dot_76 StatueType) + (objectType Book_bar__minus_01_dot_61_bar__plus_00_dot_41_bar__minus_00_dot_35 BookType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain 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 DresserType PenType) + (canContain DresserType BookType) + (canContain DresserType BowlType) + (canContain DresserType VaseType) + (canContain DresserType CDType) + (canContain DresserType CellPhoneType) + (canContain DresserType KeyChainType) + (canContain DresserType CreditCardType) + (canContain DresserType LaptopType) + (canContain DresserType PencilType) + (canContain DresserType StatueType) + (canContain DresserType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType 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CreditCard_bar__minus_01_dot_72_bar__plus_00_dot_17_bar__minus_02_dot_28 Drawer_bar__minus_01_dot_72_bar__plus_00_dot_30_bar__minus_02_dot_07) + (inReceptacle CD_bar__plus_02_dot_13_bar__plus_00_dot_44_bar__plus_02_dot_01 ArmChair_bar__plus_02_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_00) + (inReceptacle CD_bar__plus_02_dot_59_bar__plus_00_dot_43_bar__plus_01_dot_67 ArmChair_bar__plus_02_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_00) + (inReceptacle Book_bar__minus_01_dot_61_bar__plus_00_dot_04_bar__plus_00_dot_26 Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__plus_00_dot_26) + (inReceptacle Pencil_bar__plus_02_dot_38_bar__plus_00_dot_38_bar__minus_01_dot_62 Drawer_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60) + (inReceptacle Book_bar__minus_01_dot_55_bar__plus_00_dot_60_bar__minus_00_dot_63 Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__minus_00_dot_54) + (inReceptacle Mirror_bar__minus_01_dot_95_bar__plus_01_dot_74_bar__minus_00_dot_21 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15) + (inReceptacle KeyChain_bar__minus_01_dot_66_bar__plus_00_dot_97_bar__plus_00_dot_46 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15) + (inReceptacle Laptop_bar__minus_01_dot_63_bar__plus_00_dot_97_bar__plus_00_dot_08 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15) + (inReceptacle Vase_bar__minus_01_dot_51_bar__plus_00_dot_98_bar__minus_00_dot_54 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15) + (inReceptacle CreditCard_bar__minus_01_dot_80_bar__plus_00_dot_97_bar__plus_00_dot_26 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15) + (inReceptacle HousePlant_bar__minus_01_dot_79_bar__plus_00_dot_97_bar__plus_00_dot_53 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15) + (inReceptacle Pen_bar__minus_01_dot_73_bar__plus_00_dot_98_bar__minus_00_dot_54 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CellPhone_bar__plus_01_dot_74_bar__plus_00_dot_78_bar__plus_00_dot_19 Bed_bar__plus_01_dot_02_bar__plus_00_dot_06_bar__minus_00_dot_73) + (inReceptacle Statue_bar__minus_01_dot_70_bar__plus_01_dot_16_bar__minus_01_dot_96 Shelf_bar__minus_01_dot_70_bar__plus_01_dot_14_bar__minus_02_dot_06) + (inReceptacle Pencil_bar__minus_01_dot_70_bar__plus_01_dot_15_bar__minus_02_dot_42 Shelf_bar__minus_01_dot_70_bar__plus_01_dot_14_bar__minus_02_dot_06) + (inReceptacle Bowl_bar__minus_01_dot_68_bar__plus_01_dot_14_bar__minus_02_dot_30 Shelf_bar__minus_01_dot_70_bar__plus_01_dot_14_bar__minus_02_dot_06) + (inReceptacle Vase_bar__minus_01_dot_66_bar__plus_01_dot_63_bar__minus_01_dot_79 Shelf_bar__minus_01_dot_70_bar__plus_01_dot_63_bar__minus_02_dot_06) + (inReceptacleObject Pencil_bar__minus_01_dot_70_bar__plus_01_dot_15_bar__minus_02_dot_42 Bowl_bar__minus_01_dot_68_bar__plus_01_dot_14_bar__minus_02_dot_30) + + + (receptacleAtLocation ArmChair_bar__plus_02_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_00 loc_bar_9_bar_3_bar_0_bar_60) + (receptacleAtLocation Bed_bar__plus_01_dot_02_bar__plus_00_dot_06_bar__minus_00_dot_73 loc_bar_4_bar_3_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_58_bar__plus_00_dot_17_bar__plus_02_dot_14 loc_bar_2_bar_5_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14 loc_bar_8_bar_5_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_44_bar__plus_00_dot_17_bar__minus_01_dot_60 loc_bar_9_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60 loc_bar_9_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__plus_00_dot_26 loc_bar_0_bar_3_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__minus_00_dot_54 loc_bar__minus_2_bar_3_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__plus_00_dot_26 loc_bar__minus_1_bar__minus_1_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__minus_00_dot_54 loc_bar__minus_1_bar_0_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__plus_00_dot_26 loc_bar__minus_1_bar_2_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__minus_00_dot_54 loc_bar__minus_1_bar__minus_1_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__plus_00_dot_26 loc_bar__minus_3_bar__minus_3_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__minus_00_dot_54 loc_bar__minus_3_bar_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__plus_00_dot_26 loc_bar__minus_2_bar_1_bar_3_bar_30) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_00_dot_54 loc_bar__minus_2_bar__minus_2_bar_3_bar_30) + (receptacleAtLocation Drawer_bar__minus_01_dot_72_bar__plus_00_dot_30_bar__minus_02_dot_07 loc_bar__minus_4_bar__minus_8_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_72_bar__plus_00_dot_80_bar__minus_02_dot_07 loc_bar__minus_4_bar__minus_8_bar_3_bar_45) + (receptacleAtLocation Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (receptacleAtLocation Dresser_bar__minus_01_dot_77_bar__minus_00_dot_01_bar__minus_02_dot_08 loc_bar__minus_4_bar__minus_8_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_00_dot_86 loc_bar__minus_5_bar_4_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_01_dot_70_bar__plus_01_dot_14_bar__minus_02_dot_06 loc_bar__minus_4_bar__minus_8_bar_3_bar_30) + (receptacleAtLocation Shelf_bar__minus_01_dot_70_bar__plus_01_dot_63_bar__minus_02_dot_06 loc_bar__minus_4_bar__minus_8_bar_3_bar_0) + (receptacleAtLocation SideTable_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14 loc_bar_2_bar_7_bar_1_bar_45) + (receptacleAtLocation SideTable_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60 loc_bar_10_bar__minus_4_bar_2_bar_60) + (objectAtLocation Statue_bar__minus_01_dot_76_bar__plus_00_dot_97_bar__minus_00_dot_76 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (objectAtLocation CD_bar__plus_02_dot_13_bar__plus_00_dot_44_bar__plus_02_dot_01 loc_bar_9_bar_3_bar_0_bar_60) + (objectAtLocation CellPhone_bar__plus_01_dot_74_bar__plus_00_dot_78_bar__plus_00_dot_19 loc_bar_4_bar_3_bar_2_bar_45) + (objectAtLocation CreditCard_bar__minus_01_dot_72_bar__plus_00_dot_17_bar__minus_02_dot_28 loc_bar__minus_4_bar__minus_8_bar_3_bar_60) + (objectAtLocation Pencil_bar__minus_01_dot_70_bar__plus_01_dot_15_bar__minus_02_dot_42 loc_bar__minus_4_bar__minus_9_bar_3_bar_30) + (objectAtLocation Laptop_bar__minus_01_dot_63_bar__plus_00_dot_97_bar__plus_00_dot_08 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+ "z": -0.5409819 + }, + "rotation": { + "x": 0.0, + "y": -0.000140018863, + "z": 0.0 + } + }, + { + "objectName": "CellPhone_7035669b", + "position": { + "x": 1.74347711, + "y": 0.7753482, + "z": 0.188206315 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CD_e8ffdc91", + "position": { + "x": 2.134798, + "y": 0.439041, + "z": 2.01465821 + }, + "rotation": { + "x": 0.0, + "y": 90.81287, + "z": 0.0 + } + }, + { + "objectName": "Bowl_d59970df", + "position": { + "x": -1.68482971, + "y": 1.13501811, + "z": -2.30082417 + }, + "rotation": { + "x": 0.0, + "y": 346.9008, + "z": 0.0 + } + }, + { + "objectName": "Statue_15407ea7", + "position": { + "x": -1.764, + "y": 0.9653037, + "z": -0.758 + }, + "rotation": { + "x": 0.0, + "y": 59.7189941, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3604200515, + "scene_num": 330 + }, + "task_id": "trial_T20190909_060750_241366", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3F7G1FSFWQPLE_3OUYGIZWRAP0S9IU1YAUZEIZG7K0PU", + "high_descs": [ + "Turn left and walk towards the wall, then turn right and walk up to the far side of the bed.", + "Pick up the phone closest to the end of the bed.", + "Walk around to the other side of the bed and walk up to the black dresser under the mirror on the wall.", + "Put the phone on the left side of the dresser.", + "Turn right and walk towards the door, then turn right and walk across the room, hang a left and walk up to the small black dresser to the left of the chair.", + "Pick up the phone off of the dresser.", + "Turn left and walk to the black dresser that is against the wall under the mirror.", + "Put the phone on the front left corner of the dresser." + ], + "task_desc": "Move two phones to a dresser.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AFU00NU09CFXE_3SBEHTYCWQU58IRBWBVJI9B765WIYR", + "high_descs": [ + "Turn left, move across the room to the chair in the corner, then turn right to stand facing the foot of the bed with the chair on your right.", + "Pick up the cell phone from the foot of the bed.", + "Turn right to move around the bed to stand in front of the vase on the dresser.", + "Place the phone on the dresser next to the keys.", + "Turn right to move to the white door, then head right again and stop facing the small black end table with the lamp on top.", + "Pick up the cell phone from the end table. ", + "Turn left to move back to the end of the dresser where you left the other phone.", + "Place the cell phone on the front left corner of the dresser." + ], + "task_desc": "Move two cell phones to the dresser.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3X3OR7WPZ2RSJD8Z4AU2BCFXUVF8LB", + "high_descs": [ + "Go left and then right and then turn to face the computers on the bed.", + "Pick the phone up from the bed.", + "Cross the room to face the brown dresser.", + "Put the phone on the dresser.", + "Turn around and cross the room and turn to the left to face the small table with the lamp.", + "Pick the phone on the right up from the table.", + "Cross the room to face the dresser.", + "Put the phone down on the dresser." + ], + "task_desc": "Put two phones on a dresser.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CellPhone-None-Dresser-330/trial_T20190909_061014_837929/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CellPhone-None-Dresser-330/trial_T20190909_061014_837929/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..f1e5a1dc6a4b1c4a20de166d53e92a9aa89e0120 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CellPhone-None-Dresser-330/trial_T20190909_061014_837929/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 cellphone and put them in dresser.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_061014_837929)\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_66_bar__plus_00_dot_97_bar__plus_00_dot_26 - object\n AlarmClock_bar__minus_01_dot_80_bar__plus_00_dot_97_bar__plus_00_dot_26 - object\n Blinds_bar__minus_01_dot_06_bar__plus_02_dot_36_bar__minus_03_dot_17 - object\n Book_bar__minus_01_dot_61_bar__plus_00_dot_60_bar__minus_00_dot_72 - object\n Book_bar__minus_01_dot_66_bar__plus_00_dot_41_bar__minus_00_dot_44 - object\n Boots_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__minus_01_dot_08 - object\n Bowl_bar__minus_01_dot_66_bar__plus_00_dot_97_bar__plus_00_dot_06 - object\n Bowl_bar__minus_01_dot_70_bar__plus_01_dot_64_bar__minus_02_dot_42 - object\n CD_bar__plus_02_dot_21_bar__plus_00_dot_68_bar__minus_01_dot_58 - object\n CD_bar__minus_01_dot_44_bar__plus_00_dot_97_bar__plus_00_dot_46 - object\n CD_bar__minus_01_dot_51_bar__plus_00_dot_97_bar__minus_00_dot_34 - object\n CellPhone_bar__plus_02_dot_59_bar__plus_00_dot_43_bar__plus_01_dot_67 - object\n CellPhone_bar__minus_01_dot_67_bar__plus_01_dot_15_bar__minus_01_dot_96 - object\n CreditCard_bar__plus_02_dot_69_bar__plus_00_dot_44_bar__plus_02_dot_01 - object\n HousePlant_bar__minus_01_dot_79_bar__plus_00_dot_97_bar__plus_00_dot_53 - object\n KeyChain_bar__plus_02_dot_13_bar__plus_00_dot_43_bar__plus_01_dot_59 - object\n KeyChain_bar__minus_01_dot_73_bar__plus_01_dot_64_bar__minus_01_dot_96 - object\n Lamp_bar__plus_01_dot_40_bar__plus_00_dot_67_bar__plus_02_dot_21 - object\n Lamp_bar__plus_02_dot_60_bar__plus_00_dot_67_bar__minus_01_dot_71 - object\n Laptop_bar__plus_01_dot_02_bar__plus_00_dot_77_bar__plus_00_dot_19 - object\n LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_09_bar__plus_02_dot_45 - object\n Mirror_bar__minus_01_dot_95_bar__plus_01_dot_74_bar__minus_00_dot_21 - object\n Painting_bar__plus_00_dot_38_bar__plus_01_dot_98_bar__minus_01_dot_90 - object\n Painting_bar__plus_00_dot_88_bar__plus_01_dot_98_bar__minus_01_dot_90 - object\n Painting_bar__plus_01_dot_37_bar__plus_01_dot_98_bar__minus_01_dot_90 - object\n Pencil_bar__minus_01_dot_66_bar__plus_00_dot_22_bar__minus_00_dot_82 - object\n Pen_bar__plus_02_dot_36_bar__plus_00_dot_69_bar__minus_01_dot_58 - object\n Pen_bar__minus_01_dot_80_bar__plus_00_dot_98_bar__minus_00_dot_54 - object\n Pillow_bar__plus_00_dot_65_bar__plus_00_dot_79_bar__minus_01_dot_53 - object\n Pillow_bar__plus_02_dot_41_bar__plus_00_dot_51_bar__plus_01_dot_84 - object\n Statue_bar__minus_01_dot_70_bar__plus_01_dot_16_bar__minus_01_dot_85 - object\n Statue_bar__minus_01_dot_88_bar__plus_00_dot_98_bar__minus_00_dot_14 - object\n Vase_bar__plus_01_dot_65_bar__plus_00_dot_68_bar__plus_02_dot_13 - object\n Vase_bar__plus_01_dot_73_bar__plus_00_dot_68_bar__plus_02_dot_31 - object\n Vase_bar__minus_01_dot_66_bar__plus_00_dot_98_bar__minus_00_dot_74 - object\n Window_bar__minus_01_dot_10_bar__plus_01_dot_57_bar__minus_03_dot_23 - object\n ArmChair_bar__plus_02_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_00 - receptacle\n Bed_bar__plus_01_dot_02_bar__plus_00_dot_06_bar__minus_00_dot_73 - receptacle\n Drawer_bar__plus_01_dot_58_bar__plus_00_dot_17_bar__plus_02_dot_14 - receptacle\n Drawer_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14 - receptacle\n Drawer_bar__plus_02_dot_44_bar__plus_00_dot_17_bar__minus_01_dot_60 - receptacle\n Drawer_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60 - receptacle\n Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__plus_00_dot_26 - receptacle\n Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__minus_00_dot_54 - receptacle\n Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__plus_00_dot_26 - receptacle\n Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__minus_00_dot_54 - receptacle\n Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__plus_00_dot_26 - receptacle\n Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__minus_00_dot_54 - receptacle\n Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__plus_00_dot_26 - receptacle\n Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__minus_00_dot_54 - receptacle\n Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__plus_00_dot_26 - receptacle\n Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_00_dot_54 - receptacle\n Drawer_bar__minus_01_dot_72_bar__plus_00_dot_30_bar__minus_02_dot_07 - receptacle\n Drawer_bar__minus_01_dot_72_bar__plus_00_dot_80_bar__minus_02_dot_07 - receptacle\n Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15 - receptacle\n Dresser_bar__minus_01_dot_77_bar__minus_00_dot_01_bar__minus_02_dot_08 - receptacle\n GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_00_dot_86 - receptacle\n Shelf_bar__minus_01_dot_70_bar__plus_01_dot_14_bar__minus_02_dot_06 - receptacle\n Shelf_bar__minus_01_dot_70_bar__plus_01_dot_63_bar__minus_02_dot_06 - receptacle\n SideTable_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14 - receptacle\n SideTable_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60 - receptacle\n loc_bar__minus_1_bar_2_bar_3_bar_45 - location\n loc_bar__minus_4_bar__minus_2_bar_3_bar_60 - location\n loc_bar__minus_2_bar_1_bar_3_bar_30 - location\n loc_bar__minus_2_bar_3_bar_2_bar_45 - location\n loc_bar__minus_4_bar__minus_8_bar_3_bar_0 - location\n loc_bar__minus_4_bar__minus_4_bar_3_bar_60 - location\n loc_bar__minus_1_bar__minus_1_bar_3_bar_45 - location\n loc_bar_0_bar_3_bar_3_bar_45 - location\n loc_bar_9_bar_3_bar_0_bar_60 - location\n loc_bar_2_bar_5_bar_1_bar_60 - location\n loc_bar__minus_3_bar_2_bar_2_bar_45 - location\n loc_bar__minus_4_bar__minus_8_bar_3_bar_30 - location\n loc_bar__minus_4_bar__minus_10_bar_2_bar__minus_30 - location\n loc_bar_9_bar__minus_2_bar_2_bar_60 - location\n loc_bar_9_bar__minus_3_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_8_bar_3_bar_60 - location\n loc_bar__minus_2_bar__minus_2_bar_3_bar_30 - location\n loc_bar__minus_1_bar_7_bar_0_bar_45 - location\n loc_bar__minus_3_bar__minus_8_bar_1_bar__minus_15 - location\n loc_bar__minus_4_bar__minus_8_bar_3_bar_45 - location\n loc_bar_8_bar_5_bar_0_bar_60 - location\n loc_bar__minus_1_bar_0_bar_3_bar_45 - location\n loc_bar__minus_3_bar__minus_3_bar_0_bar_45 - location\n loc_bar__minus_5_bar_4_bar_3_bar_60 - location\n loc_bar__minus_4_bar__minus_10_bar_2_bar_0 - location\n loc_bar_10_bar__minus_4_bar_2_bar_60 - location\n loc_bar_9_bar_5_bar_0_bar_60 - location\n loc_bar_2_bar_7_bar_1_bar_45 - location\n loc_bar_4_bar_3_bar_2_bar_45 - location\n loc_bar_9_bar__minus_5_bar_3_bar__minus_15 - location\n loc_bar_2_bar_4_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_00_dot_54 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__minus_00_dot_54 DrawerType)\n (receptacleType GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_00_dot_86 GarbageCanType)\n (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__plus_00_dot_26 DrawerType)\n (receptacleType Dresser_bar__minus_01_dot_77_bar__minus_00_dot_01_bar__minus_02_dot_08 DresserType)\n (receptacleType Drawer_bar__plus_01_dot_58_bar__plus_00_dot_17_bar__plus_02_dot_14 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__minus_00_dot_54 DrawerType)\n (receptacleType SideTable_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60 SideTableType)\n (receptacleType Drawer_bar__plus_02_dot_44_bar__plus_00_dot_17_bar__minus_01_dot_60 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_72_bar__plus_00_dot_30_bar__minus_02_dot_07 DrawerType)\n (receptacleType Shelf_bar__minus_01_dot_70_bar__plus_01_dot_63_bar__minus_02_dot_06 ShelfType)\n (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__plus_00_dot_26 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__plus_00_dot_26 DrawerType)\n (receptacleType Bed_bar__plus_01_dot_02_bar__plus_00_dot_06_bar__minus_00_dot_73 BedType)\n (receptacleType ArmChair_bar__plus_02_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_00 ArmChairType)\n (receptacleType SideTable_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14 SideTableType)\n (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__plus_00_dot_26 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__minus_00_dot_54 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_72_bar__plus_00_dot_80_bar__minus_02_dot_07 DrawerType)\n (receptacleType Shelf_bar__minus_01_dot_70_bar__plus_01_dot_14_bar__minus_02_dot_06 ShelfType)\n (receptacleType Drawer_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__plus_00_dot_26 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__minus_00_dot_54 DrawerType)\n (receptacleType Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15 DresserType)\n (objectType Book_bar__minus_01_dot_61_bar__plus_00_dot_60_bar__minus_00_dot_72 BookType)\n (objectType Bowl_bar__minus_01_dot_70_bar__plus_01_dot_64_bar__minus_02_dot_42 BowlType)\n (objectType Vase_bar__plus_01_dot_65_bar__plus_00_dot_68_bar__plus_02_dot_13 VaseType)\n (objectType AlarmClock_bar__minus_01_dot_80_bar__plus_00_dot_97_bar__plus_00_dot_26 AlarmClockType)\n (objectType Pen_bar__plus_02_dot_36_bar__plus_00_dot_69_bar__minus_01_dot_58 PenType)\n (objectType Painting_bar__plus_01_dot_37_bar__plus_01_dot_98_bar__minus_01_dot_90 PaintingType)\n (objectType HousePlant_bar__minus_01_dot_79_bar__plus_00_dot_97_bar__plus_00_dot_53 HousePlantType)\n (objectType Window_bar__minus_01_dot_10_bar__plus_01_dot_57_bar__minus_03_dot_23 WindowType)\n (objectType Pillow_bar__plus_00_dot_65_bar__plus_00_dot_79_bar__minus_01_dot_53 PillowType)\n (objectType LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_09_bar__plus_02_dot_45 LightSwitchType)\n (objectType KeyChain_bar__plus_02_dot_13_bar__plus_00_dot_43_bar__plus_01_dot_59 KeyChainType)\n (objectType CreditCard_bar__plus_02_dot_69_bar__plus_00_dot_44_bar__plus_02_dot_01 CreditCardType)\n (objectType CellPhone_bar__minus_01_dot_67_bar__plus_01_dot_15_bar__minus_01_dot_96 CellPhoneType)\n (objectType Pillow_bar__plus_02_dot_41_bar__plus_00_dot_51_bar__plus_01_dot_84 PillowType)\n (objectType Pen_bar__minus_01_dot_80_bar__plus_00_dot_98_bar__minus_00_dot_54 PenType)\n (objectType Bowl_bar__minus_01_dot_66_bar__plus_00_dot_97_bar__plus_00_dot_06 BowlType)\n (objectType AlarmClock_bar__minus_01_dot_66_bar__plus_00_dot_97_bar__plus_00_dot_26 AlarmClockType)\n (objectType CD_bar__plus_02_dot_21_bar__plus_00_dot_68_bar__minus_01_dot_58 CDType)\n (objectType KeyChain_bar__minus_01_dot_73_bar__plus_01_dot_64_bar__minus_01_dot_96 KeyChainType)\n (objectType Painting_bar__plus_00_dot_38_bar__plus_01_dot_98_bar__minus_01_dot_90 PaintingType)\n (objectType CD_bar__minus_01_dot_44_bar__plus_00_dot_97_bar__plus_00_dot_46 CDType)\n (objectType Blinds_bar__minus_01_dot_06_bar__plus_02_dot_36_bar__minus_03_dot_17 BlindsType)\n (objectType Laptop_bar__plus_01_dot_02_bar__plus_00_dot_77_bar__plus_00_dot_19 LaptopType)\n (objectType Boots_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__minus_01_dot_08 BootsType)\n (objectType Vase_bar__minus_01_dot_66_bar__plus_00_dot_98_bar__minus_00_dot_74 VaseType)\n (objectType Book_bar__minus_01_dot_66_bar__plus_00_dot_41_bar__minus_00_dot_44 BookType)\n (objectType Vase_bar__plus_01_dot_73_bar__plus_00_dot_68_bar__plus_02_dot_31 VaseType)\n (objectType Painting_bar__plus_00_dot_88_bar__plus_01_dot_98_bar__minus_01_dot_90 PaintingType)\n (objectType Mirror_bar__minus_01_dot_95_bar__plus_01_dot_74_bar__minus_00_dot_21 MirrorType)\n (objectType CellPhone_bar__plus_02_dot_59_bar__plus_00_dot_43_bar__plus_01_dot_67 CellPhoneType)\n (objectType Statue_bar__minus_01_dot_70_bar__plus_01_dot_16_bar__minus_01_dot_85 StatueType)\n (objectType CD_bar__minus_01_dot_51_bar__plus_00_dot_97_bar__minus_00_dot_34 CDType)\n (objectType Pencil_bar__minus_01_dot_66_bar__plus_00_dot_22_bar__minus_00_dot_82 PencilType)\n (objectType Statue_bar__minus_01_dot_88_bar__plus_00_dot_98_bar__minus_00_dot_14 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 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 DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType BowlType)\n (canContain DresserType VaseType)\n (canContain DresserType CDType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType LaptopType)\n (canContain DresserType PencilType)\n (canContain DresserType StatueType)\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 SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType BowlType)\n (canContain SideTableType VaseType)\n (canContain SideTableType CDType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType StatueType)\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 ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType BowlType)\n (canContain ShelfType VaseType)\n (canContain ShelfType CDType)\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 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(canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType BowlType)\n (canContain ShelfType VaseType)\n (canContain ShelfType CDType)\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 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 BowlType)\n (canContain DresserType VaseType)\n (canContain DresserType CDType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType LaptopType)\n (canContain DresserType PencilType)\n (canContain DresserType StatueType)\n (canContain DresserType AlarmClockType)\n (pickupable Book_bar__minus_01_dot_61_bar__plus_00_dot_60_bar__minus_00_dot_72)\n (pickupable Bowl_bar__minus_01_dot_70_bar__plus_01_dot_64_bar__minus_02_dot_42)\n (pickupable Vase_bar__plus_01_dot_65_bar__plus_00_dot_68_bar__plus_02_dot_13)\n (pickupable AlarmClock_bar__minus_01_dot_80_bar__plus_00_dot_97_bar__plus_00_dot_26)\n (pickupable 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Laptop_bar__plus_01_dot_02_bar__plus_00_dot_77_bar__plus_00_dot_19)\n (pickupable Boots_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__minus_01_dot_08)\n (pickupable Vase_bar__minus_01_dot_66_bar__plus_00_dot_98_bar__minus_00_dot_74)\n (pickupable Book_bar__minus_01_dot_66_bar__plus_00_dot_41_bar__minus_00_dot_44)\n (pickupable Vase_bar__plus_01_dot_73_bar__plus_00_dot_68_bar__plus_02_dot_31)\n (pickupable CellPhone_bar__plus_02_dot_59_bar__plus_00_dot_43_bar__plus_01_dot_67)\n (pickupable Statue_bar__minus_01_dot_70_bar__plus_01_dot_16_bar__minus_01_dot_85)\n (pickupable CD_bar__minus_01_dot_51_bar__plus_00_dot_97_bar__minus_00_dot_34)\n (pickupable Pencil_bar__minus_01_dot_66_bar__plus_00_dot_22_bar__minus_00_dot_82)\n (pickupable Statue_bar__minus_01_dot_88_bar__plus_00_dot_98_bar__minus_00_dot_14)\n (isReceptacleObject Bowl_bar__minus_01_dot_70_bar__plus_01_dot_64_bar__minus_02_dot_42)\n (isReceptacleObject Bowl_bar__minus_01_dot_66_bar__plus_00_dot_97_bar__plus_00_dot_06)\n (openable Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_00_dot_54)\n (openable Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__minus_00_dot_54)\n (openable Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__plus_00_dot_26)\n (openable Drawer_bar__plus_01_dot_58_bar__plus_00_dot_17_bar__plus_02_dot_14)\n (openable Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__minus_00_dot_54)\n (openable Drawer_bar__plus_02_dot_44_bar__plus_00_dot_17_bar__minus_01_dot_60)\n (openable Drawer_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60)\n (openable Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__plus_00_dot_26)\n (openable Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__plus_00_dot_26)\n (openable Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__plus_00_dot_26)\n (openable Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__minus_00_dot_54)\n (openable Drawer_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14)\n (openable Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__plus_00_dot_26)\n (openable Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__minus_00_dot_54)\n \n (atLocation agent1 loc_bar_2_bar_4_bar_1_bar_30)\n \n (cleanable Bowl_bar__minus_01_dot_70_bar__plus_01_dot_64_bar__minus_02_dot_42)\n (cleanable Bowl_bar__minus_01_dot_66_bar__plus_00_dot_97_bar__plus_00_dot_06)\n \n \n (coolable Bowl_bar__minus_01_dot_70_bar__plus_01_dot_64_bar__minus_02_dot_42)\n (coolable Bowl_bar__minus_01_dot_66_bar__plus_00_dot_97_bar__plus_00_dot_06)\n \n \n \n \n \n \n \n (inReceptacle Vase_bar__plus_01_dot_73_bar__plus_00_dot_68_bar__plus_02_dot_31 SideTable_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14)\n (inReceptacle Vase_bar__plus_01_dot_65_bar__plus_00_dot_68_bar__plus_02_dot_13 SideTable_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14)\n (inReceptacle Pencil_bar__minus_01_dot_66_bar__plus_00_dot_22_bar__minus_00_dot_82 Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__minus_00_dot_54)\n (inReceptacle Book_bar__minus_01_dot_66_bar__plus_00_dot_41_bar__minus_00_dot_44 Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__minus_00_dot_54)\n (inReceptacle CD_bar__plus_02_dot_21_bar__plus_00_dot_68_bar__minus_01_dot_58 SideTable_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60)\n (inReceptacle Pen_bar__plus_02_dot_36_bar__plus_00_dot_69_bar__minus_01_dot_58 SideTable_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60)\n (inReceptacle CreditCard_bar__plus_02_dot_69_bar__plus_00_dot_44_bar__plus_02_dot_01 ArmChair_bar__plus_02_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_00)\n (inReceptacle CellPhone_bar__plus_02_dot_59_bar__plus_00_dot_43_bar__plus_01_dot_67 ArmChair_bar__plus_02_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_00)\n (inReceptacle Pillow_bar__plus_02_dot_41_bar__plus_00_dot_51_bar__plus_01_dot_84 ArmChair_bar__plus_02_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_00)\n (inReceptacle Book_bar__minus_01_dot_61_bar__plus_00_dot_60_bar__minus_00_dot_72 Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__minus_00_dot_54)\n (inReceptacle Mirror_bar__minus_01_dot_95_bar__plus_01_dot_74_bar__minus_00_dot_21 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15)\n (inReceptacle Bowl_bar__minus_01_dot_66_bar__plus_00_dot_97_bar__plus_00_dot_06 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15)\n (inReceptacle AlarmClock_bar__minus_01_dot_80_bar__plus_00_dot_97_bar__plus_00_dot_26 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15)\n (inReceptacle CD_bar__minus_01_dot_44_bar__plus_00_dot_97_bar__plus_00_dot_46 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15)\n (inReceptacle Vase_bar__minus_01_dot_66_bar__plus_00_dot_98_bar__minus_00_dot_74 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15)\n (inReceptacle HousePlant_bar__minus_01_dot_79_bar__plus_00_dot_97_bar__plus_00_dot_53 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15)\n (inReceptacle CD_bar__minus_01_dot_51_bar__plus_00_dot_97_bar__minus_00_dot_34 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15)\n (inReceptacle Pen_bar__minus_01_dot_80_bar__plus_00_dot_98_bar__minus_00_dot_54 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15)\n (inReceptacle Statue_bar__minus_01_dot_88_bar__plus_00_dot_98_bar__minus_00_dot_14 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15)\n (inReceptacle AlarmClock_bar__minus_01_dot_66_bar__plus_00_dot_97_bar__plus_00_dot_26 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15)\n (inReceptacle Pillow_bar__plus_00_dot_65_bar__plus_00_dot_79_bar__minus_01_dot_53 Bed_bar__plus_01_dot_02_bar__plus_00_dot_06_bar__minus_00_dot_73)\n (inReceptacle Laptop_bar__plus_01_dot_02_bar__plus_00_dot_77_bar__plus_00_dot_19 Bed_bar__plus_01_dot_02_bar__plus_00_dot_06_bar__minus_00_dot_73)\n (inReceptacle Statue_bar__minus_01_dot_70_bar__plus_01_dot_16_bar__minus_01_dot_85 Shelf_bar__minus_01_dot_70_bar__plus_01_dot_14_bar__minus_02_dot_06)\n (inReceptacle CellPhone_bar__minus_01_dot_67_bar__plus_01_dot_15_bar__minus_01_dot_96 Shelf_bar__minus_01_dot_70_bar__plus_01_dot_14_bar__minus_02_dot_06)\n (inReceptacle Bowl_bar__minus_01_dot_70_bar__plus_01_dot_64_bar__minus_02_dot_42 Shelf_bar__minus_01_dot_70_bar__plus_01_dot_63_bar__minus_02_dot_06)\n \n \n (receptacleAtLocation ArmChair_bar__plus_02_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_00 loc_bar_9_bar_3_bar_0_bar_60)\n (receptacleAtLocation Bed_bar__plus_01_dot_02_bar__plus_00_dot_06_bar__minus_00_dot_73 loc_bar_4_bar_3_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_58_bar__plus_00_dot_17_bar__plus_02_dot_14 loc_bar_2_bar_5_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14 loc_bar_8_bar_5_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_44_bar__plus_00_dot_17_bar__minus_01_dot_60 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60 loc_bar_9_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__plus_00_dot_26 loc_bar_0_bar_3_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__minus_00_dot_54 loc_bar__minus_2_bar_3_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__plus_00_dot_26 loc_bar__minus_1_bar__minus_1_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__minus_00_dot_54 loc_bar__minus_1_bar_0_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__plus_00_dot_26 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__minus_00_dot_54 loc_bar__minus_1_bar__minus_1_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__plus_00_dot_26 loc_bar__minus_3_bar__minus_3_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__minus_00_dot_54 loc_bar__minus_3_bar_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__plus_00_dot_26 loc_bar__minus_2_bar_1_bar_3_bar_30)\n (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_00_dot_54 loc_bar__minus_2_bar__minus_2_bar_3_bar_30)\n (receptacleAtLocation Drawer_bar__minus_01_dot_72_bar__plus_00_dot_30_bar__minus_02_dot_07 loc_bar__minus_4_bar__minus_8_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_72_bar__plus_00_dot_80_bar__minus_02_dot_07 loc_bar__minus_4_bar__minus_8_bar_3_bar_45)\n (receptacleAtLocation Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15 loc_bar__minus_4_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Dresser_bar__minus_01_dot_77_bar__minus_00_dot_01_bar__minus_02_dot_08 loc_bar__minus_4_bar__minus_8_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_00_dot_86 loc_bar__minus_5_bar_4_bar_3_bar_60)\n (receptacleAtLocation Shelf_bar__minus_01_dot_70_bar__plus_01_dot_14_bar__minus_02_dot_06 loc_bar__minus_4_bar__minus_8_bar_3_bar_30)\n (receptacleAtLocation Shelf_bar__minus_01_dot_70_bar__plus_01_dot_63_bar__minus_02_dot_06 loc_bar__minus_4_bar__minus_8_bar_3_bar_0)\n (receptacleAtLocation SideTable_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14 loc_bar_2_bar_7_bar_1_bar_45)\n (receptacleAtLocation SideTable_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60 loc_bar_10_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Statue_bar__minus_01_dot_70_bar__plus_01_dot_16_bar__minus_01_dot_85 loc_bar__minus_4_bar__minus_8_bar_3_bar_30)\n (objectAtLocation Bowl_bar__minus_01_dot_70_bar__plus_01_dot_64_bar__minus_02_dot_42 loc_bar__minus_4_bar__minus_8_bar_3_bar_0)\n (objectAtLocation CD_bar__minus_01_dot_51_bar__plus_00_dot_97_bar__minus_00_dot_34 loc_bar__minus_4_bar__minus_2_bar_3_bar_60)\n (objectAtLocation CellPhone_bar__minus_01_dot_67_bar__plus_01_dot_15_bar__minus_01_dot_96 loc_bar__minus_4_bar__minus_8_bar_3_bar_30)\n (objectAtLocation Pen_bar__minus_01_dot_80_bar__plus_00_dot_98_bar__minus_00_dot_54 loc_bar__minus_4_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Vase_bar__plus_01_dot_65_bar__plus_00_dot_68_bar__plus_02_dot_13 loc_bar_2_bar_7_bar_1_bar_45)\n (objectAtLocation AlarmClock_bar__minus_01_dot_66_bar__plus_00_dot_97_bar__plus_00_dot_26 loc_bar__minus_4_bar__minus_2_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__plus_02_dot_13_bar__plus_00_dot_43_bar__plus_01_dot_59 loc_bar_9_bar_5_bar_0_bar_60)\n (objectAtLocation Book_bar__minus_01_dot_66_bar__plus_00_dot_41_bar__minus_00_dot_44 loc_bar__minus_1_bar__minus_1_bar_3_bar_45)\n (objectAtLocation CD_bar__plus_02_dot_21_bar__plus_00_dot_68_bar__minus_01_dot_58 loc_bar_10_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Book_bar__minus_01_dot_61_bar__plus_00_dot_60_bar__minus_00_dot_72 loc_bar__minus_3_bar_2_bar_2_bar_45)\n (objectAtLocation KeyChain_bar__minus_01_dot_73_bar__plus_01_dot_64_bar__minus_01_dot_96 loc_bar__minus_4_bar__minus_8_bar_3_bar_0)\n (objectAtLocation AlarmClock_bar__minus_01_dot_80_bar__plus_00_dot_97_bar__plus_00_dot_26 loc_bar__minus_4_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Pillow_bar__plus_02_dot_41_bar__plus_00_dot_51_bar__plus_01_dot_84 loc_bar_9_bar_3_bar_0_bar_60)\n (objectAtLocation Pillow_bar__plus_00_dot_65_bar__plus_00_dot_79_bar__minus_01_dot_53 loc_bar_4_bar_3_bar_2_bar_45)\n (objectAtLocation Vase_bar__plus_01_dot_73_bar__plus_00_dot_68_bar__plus_02_dot_31 loc_bar_2_bar_7_bar_1_bar_45)\n (objectAtLocation HousePlant_bar__minus_01_dot_79_bar__plus_00_dot_97_bar__plus_00_dot_53 loc_bar__minus_4_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Laptop_bar__plus_01_dot_02_bar__plus_00_dot_77_bar__plus_00_dot_19 loc_bar_4_bar_3_bar_2_bar_45)\n (objectAtLocation Vase_bar__minus_01_dot_66_bar__plus_00_dot_98_bar__minus_00_dot_74 loc_bar__minus_4_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Pencil_bar__minus_01_dot_66_bar__plus_00_dot_22_bar__minus_00_dot_82 loc_bar__minus_1_bar_0_bar_3_bar_45)\n (objectAtLocation CreditCard_bar__plus_02_dot_69_bar__plus_00_dot_44_bar__plus_02_dot_01 loc_bar_9_bar_3_bar_0_bar_60)\n (objectAtLocation Boots_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__minus_01_dot_08 loc_bar__minus_4_bar__minus_4_bar_3_bar_60)\n (objectAtLocation Painting_bar__plus_00_dot_38_bar__plus_01_dot_98_bar__minus_01_dot_90 loc_bar__minus_3_bar__minus_8_bar_1_bar__minus_15)\n (objectAtLocation Painting_bar__plus_00_dot_88_bar__plus_01_dot_98_bar__minus_01_dot_90 loc_bar__minus_3_bar__minus_8_bar_1_bar__minus_15)\n (objectAtLocation Painting_bar__plus_01_dot_37_bar__plus_01_dot_98_bar__minus_01_dot_90 loc_bar_9_bar__minus_5_bar_3_bar__minus_15)\n (objectAtLocation Pen_bar__plus_02_dot_36_bar__plus_00_dot_69_bar__minus_01_dot_58 loc_bar_10_bar__minus_4_bar_2_bar_60)\n (objectAtLocation LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_09_bar__plus_02_dot_45 loc_bar__minus_1_bar_7_bar_0_bar_45)\n (objectAtLocation Mirror_bar__minus_01_dot_95_bar__plus_01_dot_74_bar__minus_00_dot_21 loc_bar__minus_4_bar__minus_2_bar_3_bar_60)\n (objectAtLocation CellPhone_bar__plus_02_dot_59_bar__plus_00_dot_43_bar__plus_01_dot_67 loc_bar_9_bar_3_bar_0_bar_60)\n (objectAtLocation CD_bar__minus_01_dot_44_bar__plus_00_dot_97_bar__plus_00_dot_46 loc_bar__minus_4_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Window_bar__minus_01_dot_10_bar__plus_01_dot_57_bar__minus_03_dot_23 loc_bar__minus_4_bar__minus_10_bar_2_bar_0)\n (objectAtLocation Bowl_bar__minus_01_dot_66_bar__plus_00_dot_97_bar__plus_00_dot_06 loc_bar__minus_4_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Statue_bar__minus_01_dot_88_bar__plus_00_dot_98_bar__minus_00_dot_14 loc_bar__minus_4_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Blinds_bar__minus_01_dot_06_bar__plus_02_dot_36_bar__minus_03_dot_17 loc_bar__minus_4_bar__minus_10_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 CellPhoneType)\n (receptacleType ?r DresserType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 CellPhoneType)\n (receptacleType ?r DresserType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to armchair 1", "take cellphone 1 from armchair 1", "go to dresser 2", "move cellphone 1 to dresser 2", "go to shelf 2", "take cellphone 2 from shelf 2", "go to dresser 2", "move cellphone 2 to dresser 2"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CellPhone-None-Dresser-330/trial_T20190909_061014_837929/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CellPhone-None-Dresser-330/trial_T20190909_061014_837929/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..46ce4552ffaeb8f2ae7354070a4008feada3e52e --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CellPhone-None-Dresser-330/trial_T20190909_061014_837929/initial_state.pddl @@ -0,0 +1,717 @@ + +(define (problem plan_trial_T20190909_061014_837929) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_66_bar__plus_00_dot_97_bar__plus_00_dot_26 - object + AlarmClock_bar__minus_01_dot_80_bar__plus_00_dot_97_bar__plus_00_dot_26 - object + Blinds_bar__minus_01_dot_06_bar__plus_02_dot_36_bar__minus_03_dot_17 - object + Book_bar__minus_01_dot_61_bar__plus_00_dot_60_bar__minus_00_dot_72 - object + Book_bar__minus_01_dot_66_bar__plus_00_dot_41_bar__minus_00_dot_44 - object + Boots_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__minus_01_dot_08 - object + Bowl_bar__minus_01_dot_66_bar__plus_00_dot_97_bar__plus_00_dot_06 - object + Bowl_bar__minus_01_dot_70_bar__plus_01_dot_64_bar__minus_02_dot_42 - object + CD_bar__plus_02_dot_21_bar__plus_00_dot_68_bar__minus_01_dot_58 - object + CD_bar__minus_01_dot_44_bar__plus_00_dot_97_bar__plus_00_dot_46 - object + CD_bar__minus_01_dot_51_bar__plus_00_dot_97_bar__minus_00_dot_34 - object + CellPhone_bar__plus_02_dot_59_bar__plus_00_dot_43_bar__plus_01_dot_67 - object + CellPhone_bar__minus_01_dot_67_bar__plus_01_dot_15_bar__minus_01_dot_96 - object + CreditCard_bar__plus_02_dot_69_bar__plus_00_dot_44_bar__plus_02_dot_01 - object + HousePlant_bar__minus_01_dot_79_bar__plus_00_dot_97_bar__plus_00_dot_53 - object + KeyChain_bar__plus_02_dot_13_bar__plus_00_dot_43_bar__plus_01_dot_59 - object + KeyChain_bar__minus_01_dot_73_bar__plus_01_dot_64_bar__minus_01_dot_96 - object + Lamp_bar__plus_01_dot_40_bar__plus_00_dot_67_bar__plus_02_dot_21 - object + Lamp_bar__plus_02_dot_60_bar__plus_00_dot_67_bar__minus_01_dot_71 - object + Laptop_bar__plus_01_dot_02_bar__plus_00_dot_77_bar__plus_00_dot_19 - object + LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_09_bar__plus_02_dot_45 - object + Mirror_bar__minus_01_dot_95_bar__plus_01_dot_74_bar__minus_00_dot_21 - object + Painting_bar__plus_00_dot_38_bar__plus_01_dot_98_bar__minus_01_dot_90 - object + Painting_bar__plus_00_dot_88_bar__plus_01_dot_98_bar__minus_01_dot_90 - object + Painting_bar__plus_01_dot_37_bar__plus_01_dot_98_bar__minus_01_dot_90 - object + Pencil_bar__minus_01_dot_66_bar__plus_00_dot_22_bar__minus_00_dot_82 - object + Pen_bar__plus_02_dot_36_bar__plus_00_dot_69_bar__minus_01_dot_58 - object + Pen_bar__minus_01_dot_80_bar__plus_00_dot_98_bar__minus_00_dot_54 - object + Pillow_bar__plus_00_dot_65_bar__plus_00_dot_79_bar__minus_01_dot_53 - object + Pillow_bar__plus_02_dot_41_bar__plus_00_dot_51_bar__plus_01_dot_84 - object + Statue_bar__minus_01_dot_70_bar__plus_01_dot_16_bar__minus_01_dot_85 - object + Statue_bar__minus_01_dot_88_bar__plus_00_dot_98_bar__minus_00_dot_14 - object + Vase_bar__plus_01_dot_65_bar__plus_00_dot_68_bar__plus_02_dot_13 - object + Vase_bar__plus_01_dot_73_bar__plus_00_dot_68_bar__plus_02_dot_31 - object + Vase_bar__minus_01_dot_66_bar__plus_00_dot_98_bar__minus_00_dot_74 - object + Window_bar__minus_01_dot_10_bar__plus_01_dot_57_bar__minus_03_dot_23 - object + ArmChair_bar__plus_02_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_00 - receptacle + Bed_bar__plus_01_dot_02_bar__plus_00_dot_06_bar__minus_00_dot_73 - receptacle + Drawer_bar__plus_01_dot_58_bar__plus_00_dot_17_bar__plus_02_dot_14 - receptacle + Drawer_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14 - receptacle + Drawer_bar__plus_02_dot_44_bar__plus_00_dot_17_bar__minus_01_dot_60 - receptacle + Drawer_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60 - receptacle + Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__plus_00_dot_26 - receptacle + Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__minus_00_dot_54 - receptacle + Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__plus_00_dot_26 - receptacle + Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__minus_00_dot_54 - receptacle + Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__plus_00_dot_26 - receptacle + Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__minus_00_dot_54 - receptacle + Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__plus_00_dot_26 - receptacle + Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__minus_00_dot_54 - receptacle + Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__plus_00_dot_26 - receptacle + Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_00_dot_54 - receptacle + Drawer_bar__minus_01_dot_72_bar__plus_00_dot_30_bar__minus_02_dot_07 - receptacle + Drawer_bar__minus_01_dot_72_bar__plus_00_dot_80_bar__minus_02_dot_07 - receptacle + Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15 - receptacle + Dresser_bar__minus_01_dot_77_bar__minus_00_dot_01_bar__minus_02_dot_08 - receptacle + GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_00_dot_86 - receptacle + Shelf_bar__minus_01_dot_70_bar__plus_01_dot_14_bar__minus_02_dot_06 - receptacle + Shelf_bar__minus_01_dot_70_bar__plus_01_dot_63_bar__minus_02_dot_06 - receptacle + SideTable_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14 - receptacle + SideTable_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60 - receptacle + loc_bar__minus_1_bar_2_bar_3_bar_45 - location + loc_bar__minus_4_bar__minus_2_bar_3_bar_60 - location + loc_bar__minus_2_bar_1_bar_3_bar_30 - location + loc_bar__minus_2_bar_3_bar_2_bar_45 - location + loc_bar__minus_4_bar__minus_8_bar_3_bar_0 - location + loc_bar__minus_4_bar__minus_4_bar_3_bar_60 - location + loc_bar__minus_1_bar__minus_1_bar_3_bar_45 - location + loc_bar_0_bar_3_bar_3_bar_45 - location + loc_bar_9_bar_3_bar_0_bar_60 - location + loc_bar_2_bar_5_bar_1_bar_60 - location + loc_bar__minus_3_bar_2_bar_2_bar_45 - location + loc_bar__minus_4_bar__minus_8_bar_3_bar_30 - location + loc_bar__minus_4_bar__minus_10_bar_2_bar__minus_30 - location + loc_bar_9_bar__minus_2_bar_2_bar_60 - location + loc_bar_9_bar__minus_3_bar_2_bar_60 - location + loc_bar__minus_4_bar__minus_8_bar_3_bar_60 - location + loc_bar__minus_2_bar__minus_2_bar_3_bar_30 - location + loc_bar__minus_1_bar_7_bar_0_bar_45 - location + loc_bar__minus_3_bar__minus_8_bar_1_bar__minus_15 - location + loc_bar__minus_4_bar__minus_8_bar_3_bar_45 - location + loc_bar_8_bar_5_bar_0_bar_60 - location + loc_bar__minus_1_bar_0_bar_3_bar_45 - location + loc_bar__minus_3_bar__minus_3_bar_0_bar_45 - location + loc_bar__minus_5_bar_4_bar_3_bar_60 - location + loc_bar__minus_4_bar__minus_10_bar_2_bar_0 - location + loc_bar_10_bar__minus_4_bar_2_bar_60 - location + loc_bar_9_bar_5_bar_0_bar_60 - location + loc_bar_2_bar_7_bar_1_bar_45 - location + loc_bar_4_bar_3_bar_2_bar_45 - location + loc_bar_9_bar__minus_5_bar_3_bar__minus_15 - location + loc_bar_2_bar_4_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_00_dot_54 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__minus_00_dot_54 DrawerType) + (receptacleType GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_00_dot_86 GarbageCanType) + (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__plus_00_dot_26 DrawerType) + (receptacleType Dresser_bar__minus_01_dot_77_bar__minus_00_dot_01_bar__minus_02_dot_08 DresserType) + (receptacleType Drawer_bar__plus_01_dot_58_bar__plus_00_dot_17_bar__plus_02_dot_14 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__minus_00_dot_54 DrawerType) + (receptacleType SideTable_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60 SideTableType) + (receptacleType Drawer_bar__plus_02_dot_44_bar__plus_00_dot_17_bar__minus_01_dot_60 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_72_bar__plus_00_dot_30_bar__minus_02_dot_07 DrawerType) + (receptacleType Shelf_bar__minus_01_dot_70_bar__plus_01_dot_63_bar__minus_02_dot_06 ShelfType) + (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__plus_00_dot_26 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__plus_00_dot_26 DrawerType) + (receptacleType Bed_bar__plus_01_dot_02_bar__plus_00_dot_06_bar__minus_00_dot_73 BedType) + (receptacleType ArmChair_bar__plus_02_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_00 ArmChairType) + (receptacleType SideTable_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14 SideTableType) + (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__plus_00_dot_26 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__minus_00_dot_54 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_72_bar__plus_00_dot_80_bar__minus_02_dot_07 DrawerType) + (receptacleType Shelf_bar__minus_01_dot_70_bar__plus_01_dot_14_bar__minus_02_dot_06 ShelfType) + (receptacleType Drawer_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__plus_00_dot_26 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__minus_00_dot_54 DrawerType) + (receptacleType Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15 DresserType) + (objectType Book_bar__minus_01_dot_61_bar__plus_00_dot_60_bar__minus_00_dot_72 BookType) + (objectType Bowl_bar__minus_01_dot_70_bar__plus_01_dot_64_bar__minus_02_dot_42 BowlType) + (objectType Vase_bar__plus_01_dot_65_bar__plus_00_dot_68_bar__plus_02_dot_13 VaseType) + (objectType AlarmClock_bar__minus_01_dot_80_bar__plus_00_dot_97_bar__plus_00_dot_26 AlarmClockType) + (objectType Pen_bar__plus_02_dot_36_bar__plus_00_dot_69_bar__minus_01_dot_58 PenType) + (objectType Painting_bar__plus_01_dot_37_bar__plus_01_dot_98_bar__minus_01_dot_90 PaintingType) + (objectType HousePlant_bar__minus_01_dot_79_bar__plus_00_dot_97_bar__plus_00_dot_53 HousePlantType) + (objectType Window_bar__minus_01_dot_10_bar__plus_01_dot_57_bar__minus_03_dot_23 WindowType) + (objectType Pillow_bar__plus_00_dot_65_bar__plus_00_dot_79_bar__minus_01_dot_53 PillowType) + (objectType LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_09_bar__plus_02_dot_45 LightSwitchType) + (objectType KeyChain_bar__plus_02_dot_13_bar__plus_00_dot_43_bar__plus_01_dot_59 KeyChainType) + (objectType CreditCard_bar__plus_02_dot_69_bar__plus_00_dot_44_bar__plus_02_dot_01 CreditCardType) + (objectType CellPhone_bar__minus_01_dot_67_bar__plus_01_dot_15_bar__minus_01_dot_96 CellPhoneType) + (objectType Pillow_bar__plus_02_dot_41_bar__plus_00_dot_51_bar__plus_01_dot_84 PillowType) + (objectType Pen_bar__minus_01_dot_80_bar__plus_00_dot_98_bar__minus_00_dot_54 PenType) + (objectType Bowl_bar__minus_01_dot_66_bar__plus_00_dot_97_bar__plus_00_dot_06 BowlType) + (objectType AlarmClock_bar__minus_01_dot_66_bar__plus_00_dot_97_bar__plus_00_dot_26 AlarmClockType) + (objectType CD_bar__plus_02_dot_21_bar__plus_00_dot_68_bar__minus_01_dot_58 CDType) + (objectType KeyChain_bar__minus_01_dot_73_bar__plus_01_dot_64_bar__minus_01_dot_96 KeyChainType) + (objectType 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CellPhoneType) + (objectType Statue_bar__minus_01_dot_70_bar__plus_01_dot_16_bar__minus_01_dot_85 StatueType) + (objectType CD_bar__minus_01_dot_51_bar__plus_00_dot_97_bar__minus_00_dot_34 CDType) + (objectType Pencil_bar__minus_01_dot_66_bar__plus_00_dot_22_bar__minus_00_dot_82 PencilType) + (objectType Statue_bar__minus_01_dot_88_bar__plus_00_dot_98_bar__minus_00_dot_14 StatueType) + (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 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ArmChair_bar__plus_02_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_00) + (inReceptacle Book_bar__minus_01_dot_61_bar__plus_00_dot_60_bar__minus_00_dot_72 Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__minus_00_dot_54) + (inReceptacle Mirror_bar__minus_01_dot_95_bar__plus_01_dot_74_bar__minus_00_dot_21 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15) + (inReceptacle Bowl_bar__minus_01_dot_66_bar__plus_00_dot_97_bar__plus_00_dot_06 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15) + (inReceptacle AlarmClock_bar__minus_01_dot_80_bar__plus_00_dot_97_bar__plus_00_dot_26 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15) + (inReceptacle CD_bar__minus_01_dot_44_bar__plus_00_dot_97_bar__plus_00_dot_46 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15) + (inReceptacle Vase_bar__minus_01_dot_66_bar__plus_00_dot_98_bar__minus_00_dot_74 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15) + 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Drawer_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14 loc_bar_8_bar_5_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_44_bar__plus_00_dot_17_bar__minus_01_dot_60 loc_bar_9_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60 loc_bar_9_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__plus_00_dot_26 loc_bar_0_bar_3_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__minus_00_dot_54 loc_bar__minus_2_bar_3_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__plus_00_dot_26 loc_bar__minus_1_bar__minus_1_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__minus_00_dot_54 loc_bar__minus_1_bar_0_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__plus_00_dot_26 loc_bar__minus_1_bar_2_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__minus_00_dot_54 loc_bar__minus_1_bar__minus_1_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__plus_00_dot_26 loc_bar__minus_3_bar__minus_3_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__minus_00_dot_54 loc_bar__minus_3_bar_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__plus_00_dot_26 loc_bar__minus_2_bar_1_bar_3_bar_30) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_00_dot_54 loc_bar__minus_2_bar__minus_2_bar_3_bar_30) + (receptacleAtLocation Drawer_bar__minus_01_dot_72_bar__plus_00_dot_30_bar__minus_02_dot_07 loc_bar__minus_4_bar__minus_8_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_72_bar__plus_00_dot_80_bar__minus_02_dot_07 loc_bar__minus_4_bar__minus_8_bar_3_bar_45) + (receptacleAtLocation Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (receptacleAtLocation Dresser_bar__minus_01_dot_77_bar__minus_00_dot_01_bar__minus_02_dot_08 loc_bar__minus_4_bar__minus_8_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_00_dot_86 loc_bar__minus_5_bar_4_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_01_dot_70_bar__plus_01_dot_14_bar__minus_02_dot_06 loc_bar__minus_4_bar__minus_8_bar_3_bar_30) + (receptacleAtLocation Shelf_bar__minus_01_dot_70_bar__plus_01_dot_63_bar__minus_02_dot_06 loc_bar__minus_4_bar__minus_8_bar_3_bar_0) + (receptacleAtLocation SideTable_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14 loc_bar_2_bar_7_bar_1_bar_45) + (receptacleAtLocation SideTable_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60 loc_bar_10_bar__minus_4_bar_2_bar_60) + (objectAtLocation Statue_bar__minus_01_dot_70_bar__plus_01_dot_16_bar__minus_01_dot_85 loc_bar__minus_4_bar__minus_8_bar_3_bar_30) + (objectAtLocation Bowl_bar__minus_01_dot_70_bar__plus_01_dot_64_bar__minus_02_dot_42 loc_bar__minus_4_bar__minus_8_bar_3_bar_0) + (objectAtLocation CD_bar__minus_01_dot_51_bar__plus_00_dot_97_bar__minus_00_dot_34 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (objectAtLocation CellPhone_bar__minus_01_dot_67_bar__plus_01_dot_15_bar__minus_01_dot_96 loc_bar__minus_4_bar__minus_8_bar_3_bar_30) + (objectAtLocation Pen_bar__minus_01_dot_80_bar__plus_00_dot_98_bar__minus_00_dot_54 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (objectAtLocation Vase_bar__plus_01_dot_65_bar__plus_00_dot_68_bar__plus_02_dot_13 loc_bar_2_bar_7_bar_1_bar_45) + (objectAtLocation AlarmClock_bar__minus_01_dot_66_bar__plus_00_dot_97_bar__plus_00_dot_26 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (objectAtLocation KeyChain_bar__plus_02_dot_13_bar__plus_00_dot_43_bar__plus_01_dot_59 loc_bar_9_bar_5_bar_0_bar_60) + (objectAtLocation Book_bar__minus_01_dot_66_bar__plus_00_dot_41_bar__minus_00_dot_44 loc_bar__minus_1_bar__minus_1_bar_3_bar_45) + (objectAtLocation CD_bar__plus_02_dot_21_bar__plus_00_dot_68_bar__minus_01_dot_58 loc_bar_10_bar__minus_4_bar_2_bar_60) + (objectAtLocation Book_bar__minus_01_dot_61_bar__plus_00_dot_60_bar__minus_00_dot_72 loc_bar__minus_3_bar_2_bar_2_bar_45) + (objectAtLocation KeyChain_bar__minus_01_dot_73_bar__plus_01_dot_64_bar__minus_01_dot_96 loc_bar__minus_4_bar__minus_8_bar_3_bar_0) + (objectAtLocation AlarmClock_bar__minus_01_dot_80_bar__plus_00_dot_97_bar__plus_00_dot_26 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (objectAtLocation Pillow_bar__plus_02_dot_41_bar__plus_00_dot_51_bar__plus_01_dot_84 loc_bar_9_bar_3_bar_0_bar_60) + (objectAtLocation Pillow_bar__plus_00_dot_65_bar__plus_00_dot_79_bar__minus_01_dot_53 loc_bar_4_bar_3_bar_2_bar_45) + (objectAtLocation Vase_bar__plus_01_dot_73_bar__plus_00_dot_68_bar__plus_02_dot_31 loc_bar_2_bar_7_bar_1_bar_45) + (objectAtLocation HousePlant_bar__minus_01_dot_79_bar__plus_00_dot_97_bar__plus_00_dot_53 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (objectAtLocation Laptop_bar__plus_01_dot_02_bar__plus_00_dot_77_bar__plus_00_dot_19 loc_bar_4_bar_3_bar_2_bar_45) + (objectAtLocation Vase_bar__minus_01_dot_66_bar__plus_00_dot_98_bar__minus_00_dot_74 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (objectAtLocation Pencil_bar__minus_01_dot_66_bar__plus_00_dot_22_bar__minus_00_dot_82 loc_bar__minus_1_bar_0_bar_3_bar_45) + (objectAtLocation CreditCard_bar__plus_02_dot_69_bar__plus_00_dot_44_bar__plus_02_dot_01 loc_bar_9_bar_3_bar_0_bar_60) + (objectAtLocation Boots_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__minus_01_dot_08 loc_bar__minus_4_bar__minus_4_bar_3_bar_60) + (objectAtLocation Painting_bar__plus_00_dot_38_bar__plus_01_dot_98_bar__minus_01_dot_90 loc_bar__minus_3_bar__minus_8_bar_1_bar__minus_15) + (objectAtLocation Painting_bar__plus_00_dot_88_bar__plus_01_dot_98_bar__minus_01_dot_90 loc_bar__minus_3_bar__minus_8_bar_1_bar__minus_15) + (objectAtLocation Painting_bar__plus_01_dot_37_bar__plus_01_dot_98_bar__minus_01_dot_90 loc_bar_9_bar__minus_5_bar_3_bar__minus_15) + (objectAtLocation Pen_bar__plus_02_dot_36_bar__plus_00_dot_69_bar__minus_01_dot_58 loc_bar_10_bar__minus_4_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_09_bar__plus_02_dot_45 loc_bar__minus_1_bar_7_bar_0_bar_45) + (objectAtLocation Mirror_bar__minus_01_dot_95_bar__plus_01_dot_74_bar__minus_00_dot_21 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (objectAtLocation CellPhone_bar__plus_02_dot_59_bar__plus_00_dot_43_bar__plus_01_dot_67 loc_bar_9_bar_3_bar_0_bar_60) + (objectAtLocation CD_bar__minus_01_dot_44_bar__plus_00_dot_97_bar__plus_00_dot_46 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (objectAtLocation Window_bar__minus_01_dot_10_bar__plus_01_dot_57_bar__minus_03_dot_23 loc_bar__minus_4_bar__minus_10_bar_2_bar_0) + (objectAtLocation Bowl_bar__minus_01_dot_66_bar__plus_00_dot_97_bar__plus_00_dot_06 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (objectAtLocation Statue_bar__minus_01_dot_88_bar__plus_00_dot_98_bar__minus_00_dot_14 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (objectAtLocation Blinds_bar__minus_01_dot_06_bar__plus_02_dot_36_bar__minus_03_dot_17 loc_bar__minus_4_bar__minus_10_bar_2_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 CellPhoneType) + (receptacleType ?r DresserType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 CellPhoneType) + (receptacleType ?r DresserType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CellPhone-None-Dresser-330/trial_T20190909_061014_837929/traj_data.json 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{ + "objectName": "Bowl_d59970df", + "position": { + "x": -1.69950318, + "y": 1.63793039, + "z": -2.41544962 + }, + "rotation": { + "x": 0.0, + "y": 90.0005, + "z": 0.0 + } + }, + { + "objectName": "Statue_15407ea7", + "position": { + "x": -1.699498, + "y": 1.15641856, + "z": -1.84539437 + }, + "rotation": { + "x": 0.0, + "y": 90.0005, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2617004638, + "scene_num": 330 + }, + "task_id": "trial_T20190909_061014_837929", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1HKHM4NVAO98H_36PW28KO42NSWVRMKMRCU8V8BM1EAL", + "high_descs": [ + "turn around and walk past the foot of the bed on your left, then turn left and walk to the end of the room, then turn right to face the tall black cabinet", + "grab the cellphone off of the cabinet", + "turn right and walk over to the shorter dresser on the left side just up ahead", + "place the cellphone down on top of the dresser there", + "turn around and walk over to the chair in the left side corner of the room", + "grab the cellphone off of the chair there", + "turn left and walk back over to the shorter dresser at the end of the room now on the left", + "place the cellphone down on top of the dresser" + ], + "task_desc": "place two cellphones on top of the black dresser", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A20FCMWP43CVIU_3OS4RQUCRC6PLJWALBBE710E555FB3", + "high_descs": [ + "walk to face bureau", + "pick up red phone from top of bureau", + "move to the right to face shorter bureau", + "put phone on top of bureau", + "move to face plush brown chair", + "pick up phone from chair", + "move to face shorter bureau", + "put phone on top of bureau" + ], + "task_desc": "put two phones on top of bureau", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2KAGFQU28JY43_3K5TEWLKGY2O4OW6R08ZBA7DOPPVIS", + "high_descs": [ + "Turn around and go past the bed and turn to your right, go to the window then turn to your right again and go to the dresser across from you. ", + "Pick up the cell phone to the left of the golden dog. ", + "Turn to your right and go to the left side of the dresser to your left. ", + "Place the cell phone on the dresser, above the first drawer, on the left. ", + "Turn to your right and go past the bed, then turn to your right again and go to the arm chair across the room, to your left. ", + "Pick up the cell phone on the right side of the chair. ", + "Turn to your left and go across the room, then make a left after the bed and go back to the left end of the dresser on your right. ", + "Place the cell phone on the CD to the right of the other cell phone. " + ], + "task_desc": "Put two phones on the dresser. ", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pan-None-CounterTop-14/trial_T20190907_012608_530399/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pan-None-CounterTop-14/trial_T20190907_012608_530399/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..62f6744a4f5b1213ef9ce55f61facc396ee13239 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pan-None-CounterTop-14/trial_T20190907_012608_530399/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 pan and put them 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_T20190907_012608_530399)\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_01_dot_07_bar__minus_00_dot_68 - object\n Apple_bar__minus_00_dot_79_bar__plus_01_dot_45_bar__minus_01_dot_63 - object\n Bowl_bar__plus_01_dot_81_bar__plus_01_dot_64_bar__plus_00_dot_38 - object\n 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StoveBurner_bar__plus_01_dot_54_bar__plus_00_dot_91_bar__minus_00_dot_32)\n (inReceptacle Lettuce_bar__plus_01_dot_80_bar__plus_01_dot_01_bar__minus_01_dot_55 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52)\n (inReceptacle PepperShaker_bar__plus_00_dot_26_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 PepperShaker_bar__plus_00_dot_84_bar__plus_00_dot_91_bar__minus_01_dot_23 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_72 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52)\n (inReceptacle ButterKnife_bar__plus_00_dot_55_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 SaltShaker_bar__plus_01_dot_94_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 Fork_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_63 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52)\n (inReceptacle Knife_bar__plus_00_dot_46_bar__plus_00_dot_94_bar__minus_01_dot_26 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52)\n (inReceptacle ButterKnife_bar__plus_00_dot_30_bar__plus_00_dot_90_bar__minus_01_dot_30 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52)\n (inReceptacle Pot_bar__plus_01_dot_53_bar__plus_00_dot_91_bar__plus_00_dot_06 StoveBurner_bar__plus_01_dot_55_bar__plus_00_dot_91_bar__plus_00_dot_08)\n (inReceptacle Bowl_bar__plus_01_dot_81_bar__plus_01_dot_64_bar__plus_00_dot_38 Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__plus_00_dot_67)\n (inReceptacle SoapBottle_bar__plus_01_dot_88_bar__plus_01_dot_65_bar__minus_00_dot_50 Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__minus_00_dot_59)\n (inReceptacle Plate_bar__plus_01_dot_81_bar__plus_01_dot_63_bar__minus_00_dot_90 Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_00_dot_61)\n (inReceptacle Cup_bar__plus_01_dot_88_bar__plus_01_dot_63_bar__minus_00_dot_68 Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_00_dot_61)\n (inReceptacle DishSponge_bar__plus_01_dot_77_bar__plus_00_dot_07_bar__plus_01_dot_54 GarbageCan_bar__plus_01_dot_77_bar__plus_00_dot_00_bar__plus_01_dot_69)\n (inReceptacle Potato_bar__plus_01_dot_03_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 Spoon_bar__plus_00_dot_89_bar__plus_00_dot_76_bar__minus_01_dot_65 Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60_bar_SinkBasin)\n (inReceptacle Ladle_bar__plus_01_dot_17_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__plus_01_dot_71_bar__plus_01_dot_01_bar__minus_00_dot_68 Microwave_bar__plus_01_dot_75_bar__plus_00_dot_90_bar__minus_00_dot_84)\n (inReceptacle Cup_bar__plus_01_dot_77_bar__plus_01_dot_01_bar__minus_00_dot_89 Microwave_bar__plus_01_dot_75_bar__plus_00_dot_90_bar__minus_00_dot_84)\n (inReceptacle Apple_bar__plus_01_dot_84_bar__plus_01_dot_07_bar__minus_00_dot_68 Microwave_bar__plus_01_dot_75_bar__plus_00_dot_90_bar__minus_00_dot_84)\n (inReceptacle Egg_bar__minus_00_dot_89_bar__plus_00_dot_50_bar__minus_01_dot_67 Fridge_bar__minus_00_dot_53_bar__plus_00_dot_00_bar__minus_01_dot_55)\n (inReceptacle Plate_bar__minus_00_dot_74_bar__plus_01_dot_09_bar__minus_01_dot_59 Fridge_bar__minus_00_dot_53_bar__plus_00_dot_00_bar__minus_01_dot_55)\n (inReceptacle Plate_bar__minus_00_dot_79_bar__plus_00_dot_46_bar__minus_01_dot_48 Fridge_bar__minus_00_dot_53_bar__plus_00_dot_00_bar__minus_01_dot_55)\n (inReceptacle Apple_bar__minus_00_dot_79_bar__plus_01_dot_45_bar__minus_01_dot_63 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 PepperShaker_bar__plus_00_dot_26_bar__plus_00_dot_91_bar__minus_01_dot_26 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__plus_00_dot_30_bar__plus_00_dot_90_bar__minus_01_dot_30 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Knife_bar__plus_01_dot_76_bar__plus_00_dot_94_bar__plus_01_dot_09 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Spatula_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__minus_01_dot_72 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Tomato_bar__plus_01_dot_92_bar__plus_00_dot_97_bar__plus_00_dot_42 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Pan_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 (objectAtLocation SaltShaker_bar__plus_01_dot_94_bar__plus_00_dot_91_bar__minus_01_dot_37 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_79_bar__plus_01_dot_45_bar__minus_01_dot_63 loc_bar__minus_2_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Fork_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_63 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Cup_bar__plus_01_dot_77_bar__plus_01_dot_01_bar__minus_00_dot_89 loc_bar_4_bar__minus_3_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__plus_01_dot_27 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Plate_bar__plus_01_dot_81_bar__plus_01_dot_63_bar__minus_00_dot_90 loc_bar_3_bar__minus_3_bar_1_bar__minus_30)\n (objectAtLocation PepperShaker_bar__plus_00_dot_48_bar__plus_00_dot_91_bar__plus_01_dot_27 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation SoapBottle_bar__plus_01_dot_88_bar__plus_01_dot_65_bar__minus_00_dot_50 loc_bar_2_bar_0_bar_1_bar__minus_15)\n (objectAtLocation Plate_bar__minus_00_dot_74_bar__plus_01_dot_09_bar__minus_01_dot_59 loc_bar__minus_2_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Fork_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_00_dot_83 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation ButterKnife_bar__plus_01_dot_84_bar__plus_00_dot_91_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__minus_00_dot_79_bar__plus_00_dot_46_bar__minus_01_dot_48 loc_bar__minus_2_bar__minus_2_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__plus_00_dot_99_bar__plus_00_dot_91_bar__plus_00_dot_92 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Cup_bar__plus_01_dot_88_bar__plus_01_dot_63_bar__minus_00_dot_68 loc_bar_3_bar__minus_3_bar_1_bar__minus_30)\n (objectAtLocation Egg_bar__minus_00_dot_89_bar__plus_00_dot_50_bar__minus_01_dot_67 loc_bar__minus_2_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Fork_bar__plus_00_dot_99_bar__plus_00_dot_91_bar__plus_01_dot_00 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Ladle_bar__plus_01_dot_17_bar__plus_00_dot_80_bar__minus_01_dot_60 loc_bar_4_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Apple_bar__plus_01_dot_84_bar__plus_01_dot_07_bar__minus_00_dot_68 loc_bar_4_bar__minus_3_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__plus_01_dot_45_bar__plus_00_dot_91_bar__plus_00_dot_36 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__plus_01_dot_76_bar__plus_00_dot_97_bar__plus_00_dot_57 loc_bar_4_bar_1_bar_0_bar_45)\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_50_bar__plus_00_dot_93_bar__plus_01_dot_18 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Potato_bar__plus_01_dot_03_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_46_bar__plus_00_dot_94_bar__minus_01_dot_26 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__plus_00_dot_55_bar__plus_00_dot_91_bar__minus_01_dot_35 loc_bar_2_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_01_dot_62_bar__plus_00_dot_98_bar__plus_00_dot_76 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Lettuce_bar__plus_01_dot_80_bar__plus_01_dot_01_bar__minus_01_dot_55 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__plus_00_dot_84_bar__plus_00_dot_91_bar__minus_01_dot_23 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Pot_bar__plus_01_dot_53_bar__plus_00_dot_91_bar__plus_00_dot_06 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_77_bar__plus_00_dot_07_bar__plus_01_dot_54 loc_bar_6_bar_9_bar_2_bar_60)\n (objectAtLocation Spoon_bar__plus_00_dot_89_bar__plus_00_dot_76_bar__minus_01_dot_65 loc_bar_4_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Bowl_bar__plus_01_dot_81_bar__plus_01_dot_64_bar__plus_00_dot_38 loc_bar_4_bar_1_bar_1_bar__minus_30)\n (objectAtLocation Mug_bar__plus_01_dot_71_bar__plus_01_dot_01_bar__minus_00_dot_68 loc_bar_4_bar__minus_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 PanType)\n (receptacleType ?r CounterTopType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 PanType)\n (receptacleType ?r CounterTopType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to stoveburner 2", "take pan 1 from stoveburner 2", "go to coffeemachine 1", "move pan 1 to countertop 2", "go to stoveburner 4", "take pan 2 from stoveburner 4", "go to coffeemachine 1", "move pan 2 to countertop 2"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pan-None-CounterTop-14/trial_T20190907_012608_530399/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pan-None-CounterTop-14/trial_T20190907_012608_530399/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..2f0c6c302d4ca1b5be007a643dd6fc85f73b8bfb --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pan-None-CounterTop-14/trial_T20190907_012608_530399/initial_state.pddl @@ -0,0 +1,822 @@ + +(define (problem plan_trial_T20190907_012608_530399) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_01_dot_07_bar__minus_00_dot_68 - object + Apple_bar__minus_00_dot_79_bar__plus_01_dot_45_bar__minus_01_dot_63 - object + Bowl_bar__plus_01_dot_81_bar__plus_01_dot_64_bar__plus_00_dot_38 - object + Bread_bar__plus_01_dot_62_bar__plus_00_dot_98_bar__plus_00_dot_76 - object + ButterKnife_bar__plus_00_dot_30_bar__plus_00_dot_90_bar__minus_01_dot_30 - object + ButterKnife_bar__plus_00_dot_55_bar__plus_00_dot_91_bar__minus_01_dot_35 - object + ButterKnife_bar__plus_01_dot_84_bar__plus_00_dot_91_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_77_bar__plus_01_dot_01_bar__minus_00_dot_89 - object + Cup_bar__plus_01_dot_88_bar__plus_01_dot_63_bar__minus_00_dot_68 - object + DishSponge_bar__plus_01_dot_77_bar__plus_00_dot_07_bar__plus_01_dot_54 - object + Egg_bar__minus_00_dot_89_bar__plus_00_dot_50_bar__minus_01_dot_67 - object + Faucet_bar__plus_01_dot_11_bar__plus_01_dot_14_bar__minus_01_dot_76 - object + Fork_bar__plus_00_dot_99_bar__plus_00_dot_91_bar__plus_01_dot_00 - object + Fork_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_00_dot_83 - object + Fork_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_63 - object + 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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_2_bar_5_bar_1_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 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"A3A0VPWPASCO9J_354GIDR5ZENPJ3SCO56NJRXPD0H000", + "high_descs": [ + "Walk across the room to the stove on the left.", + "Pick up the frying pan on the front right burner of the stove.", + "Turn left and walk to the counter with the bottle of lotion.", + "Set the frying pan down on the counter to the left of the bottle of lotion.", + "Turn around and walk back to the stove.", + "Pick up the frying pan on the back right corner of the stove.", + "Turn left and walk to the counter with the bottle of lotion.", + "Set the frying pan down on the counter behind the fork." + ], + "task_desc": "Put the two frying pans on the counter with the bottle of lotion.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1HKHM4NVAO98H_358UUM7WR2KR18CV3HABI28ZU787RX", + "high_descs": [ + "turn right and walk over to the fridge ahead, then hang a left and walk over to the stove directly ahead", + "grab the sauce pan off of the front right burner", + "turn left and walk to the kitchen counter directly ahead", + "place the sauce pan down on the kitchen counter", + "turn around and walk back to the stove on the left", + "grab the sauce pan on the back right burner off of the stove", + "turn left and walk to the kitchen counter ahead", + "place the sauce pan down on the kitchen counter behind the fork" + ], + "task_desc": "place the two sauce pans from the stove on the kitchen 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-Pan-None-CounterTop-14/trial_T20190918_175910_161432/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pan-None-CounterTop-14/trial_T20190918_175910_161432/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..d5c9623c6bbd73be0b8b149e495513d4f3a358de --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pan-None-CounterTop-14/trial_T20190918_175910_161432/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 pan and put them 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_T20190918_175910_161432)\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_96_bar__plus_00_dot_82_bar__minus_01_dot_49 - object\n Apple_bar__plus_01_dot_73_bar__plus_00_dot_97_bar__minus_01_dot_55 - object\n Bowl_bar__minus_00_dot_69_bar__plus_01_dot_39_bar__minus_01_dot_59 - object\n Bread_bar__plus_00_dot_99_bar__plus_00_dot_99_bar__plus_00_dot_74 - object\n ButterKnife_bar__plus_00_dot_30_bar__plus_00_dot_90_bar__minus_01_dot_30 - 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_00_dot_48_bar__plus_00_dot_91_bar__plus_01_dot_18 - object\n DishSponge_bar__plus_01_dot_03_bar__plus_00_dot_76_bar__minus_01_dot_71 - object\n DishSponge_bar__plus_01_dot_74_bar__plus_00_dot_07_bar__plus_01_dot_54 - object\n Egg_bar__plus_01_dot_80_bar__plus_00_dot_11_bar__plus_01_dot_83 - object\n Egg_bar__plus_01_dot_94_bar__plus_00_dot_95_bar__minus_01_dot_37 - object\n Faucet_bar__plus_01_dot_11_bar__plus_01_dot_14_bar__minus_01_dot_76 - object\n Fork_bar__plus_01_dot_61_bar__plus_00_dot_91_bar__plus_00_dot_57 - object\n Fork_bar__plus_01_dot_68_bar__plus_00_dot_91_bar__plus_00_dot_52 - object\n Knife_bar__plus_00_dot_22_bar__plus_00_dot_94_bar__plus_00_dot_83 - object\n Knife_bar__plus_01_dot_14_bar__plus_00_dot_76_bar__minus_01_dot_58 - object\n Knife_bar__plus_01_dot_73_bar__plus_00_dot_94_bar__minus_01_dot_46 - object\n Ladle_bar__plus_01_dot_76_bar__plus_00_dot_95_bar__plus_01_dot_18 - object\n Lettuce_bar__plus_00_dot_86_bar__plus_00_dot_99_bar__plus_01_dot_12 - 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_80 - object\n Mug_bar__plus_01_dot_92_bar__plus_00_dot_91_bar__plus_00_dot_57 - object\n Pan_bar__plus_01_dot_54_bar__plus_00_dot_91_bar__minus_00_dot_32 - object\n Pan_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_32 - object\n PepperShaker_bar__plus_01_dot_59_bar__plus_00_dot_91_bar__minus_01_dot_29 - object\n PepperShaker_bar__plus_01_dot_73_bar__plus_01_dot_65_bar__minus_00_dot_45 - object\n PepperShaker_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__plus_01_dot_27 - 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_63_bar__minus_00_dot_90 - object\n Potato_bar__plus_01_dot_80_bar__plus_01_dot_06_bar__minus_00_dot_89 - object\n Potato_bar__minus_00_dot_69_bar__plus_00_dot_79_bar__minus_01_dot_59 - object\n Pot_bar__plus_01_dot_53_bar__plus_00_dot_91_bar__plus_00_dot_06 - object\n SaltShaker_bar__plus_01_dot_73_bar__plus_02_dot_13_bar__plus_00_dot_88 - object\n SaltShaker_bar__plus_01_dot_81_bar__plus_01_dot_64_bar__minus_01_dot_77 - object\n SaltShaker_bar__plus_01_dot_84_bar__plus_02_dot_13_bar__plus_01_dot_24 - 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_87_bar__plus_00_dot_91_bar__minus_01_dot_29 - object\n Spatula_bar__plus_00_dot_73_bar__plus_00_dot_93_bar__plus_00_dot_92 - object\n Spatula_bar__plus_01_dot_52_bar__plus_00_dot_93_bar__minus_01_dot_46 - object\n Spoon_bar__plus_00_dot_73_bar__plus_00_dot_91_bar__plus_00_dot_83 - object\n Spoon_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_01_dot_00 - 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_00_dot_36_bar__plus_00_dot_98_bar__minus_01_dot_26 - 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_6_bar_8_bar_0_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 Bowl_bar__minus_00_dot_69_bar__plus_01_dot_39_bar__minus_01_dot_59 BowlType)\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 Knife_bar__plus_00_dot_22_bar__plus_00_dot_94_bar__plus_00_dot_83 KnifeType)\n (objectType Potato_bar__minus_00_dot_69_bar__plus_00_dot_79_bar__minus_01_dot_59 PotatoType)\n (objectType Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60 SinkType)\n (objectType Pot_bar__plus_01_dot_53_bar__plus_00_dot_91_bar__plus_00_dot_06 PotType)\n (objectType Pan_bar__plus_01_dot_81_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__plus_00_dot_09 StoveKnobType)\n (objectType Fork_bar__plus_01_dot_68_bar__plus_00_dot_91_bar__plus_00_dot_52 ForkType)\n (objectType Egg_bar__plus_01_dot_94_bar__plus_00_dot_95_bar__minus_01_dot_37 EggType)\n (objectType Tomato_bar__plus_00_dot_36_bar__plus_00_dot_98_bar__minus_01_dot_26 TomatoType)\n (objectType SaltShaker_bar__plus_01_dot_81_bar__plus_01_dot_64_bar__minus_01_dot_77 SaltShakerType)\n (objectType Spatula_bar__plus_01_dot_52_bar__plus_00_dot_93_bar__minus_01_dot_46 SpatulaType)\n (objectType PepperShaker_bar__plus_01_dot_73_bar__plus_01_dot_65_bar__minus_00_dot_45 PepperShakerType)\n (objectType Spoon_bar__plus_00_dot_73_bar__plus_00_dot_91_bar__plus_00_dot_83 SpoonType)\n (objectType Plate_bar__plus_01_dot_80_bar__plus_01_dot_65_bar_00_dot_00 PlateType)\n (objectType PepperShaker_bar__plus_01_dot_59_bar__plus_00_dot_91_bar__minus_01_dot_29 PepperShakerType)\n (objectType Fork_bar__plus_01_dot_61_bar__plus_00_dot_91_bar__plus_00_dot_57 ForkType)\n (objectType Apple_bar__plus_00_dot_96_bar__plus_00_dot_82_bar__minus_01_dot_49 AppleType)\n (objectType Window_bar__minus_00_dot_37_bar__plus_01_dot_59_bar__plus_03_dot_35 WindowType)\n (objectType StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_05 StoveKnobType)\n (objectType Mug_bar__plus_01_dot_87_bar__plus_00_dot_91_bar__minus_01_dot_80 MugType)\n (objectType ButterKnife_bar__plus_00_dot_30_bar__plus_00_dot_90_bar__minus_01_dot_30 ButterKnifeType)\n (objectType SaltShaker_bar__plus_01_dot_84_bar__plus_02_dot_13_bar__plus_01_dot_24 SaltShakerType)\n (objectType Ladle_bar__plus_01_dot_76_bar__plus_00_dot_95_bar__plus_01_dot_18 LadleType)\n (objectType DishSponge_bar__plus_01_dot_74_bar__plus_00_dot_07_bar__plus_01_dot_54 DishSpongeType)\n (objectType Spatula_bar__plus_00_dot_73_bar__plus_00_dot_93_bar__plus_00_dot_92 SpatulaType)\n (objectType StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_18 StoveKnobType)\n (objectType Bread_bar__plus_00_dot_99_bar__plus_00_dot_99_bar__plus_00_dot_74 BreadType)\n (objectType Cup_bar__plus_00_dot_48_bar__plus_00_dot_91_bar__plus_01_dot_18 CupType)\n (objectType DishSponge_bar__plus_01_dot_03_bar__plus_00_dot_76_bar__minus_01_dot_71 DishSpongeType)\n (objectType 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Cup_bar__plus_00_dot_48_bar__plus_00_dot_91_bar__plus_01_dot_18 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02)\n (inReceptacle Spoon_bar__plus_00_dot_73_bar__plus_00_dot_91_bar__plus_00_dot_83 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_83 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02)\n (inReceptacle Spoon_bar__plus_01_dot_25_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_86_bar__plus_00_dot_99_bar__plus_01_dot_12 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02)\n (inReceptacle Fork_bar__plus_01_dot_61_bar__plus_00_dot_91_bar__plus_00_dot_57 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02)\n (inReceptacle Ladle_bar__plus_01_dot_76_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 PepperShaker_bar__plus_01_dot_76_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 Pan_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_32 StoveBurner_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_32)\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 Egg_bar__plus_01_dot_94_bar__plus_00_dot_95_bar__minus_01_dot_37 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52)\n (inReceptacle Tomato_bar__plus_00_dot_36_bar__plus_00_dot_98_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_52_bar__plus_00_dot_93_bar__minus_01_dot_46 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52)\n (inReceptacle Apple_bar__plus_01_dot_73_bar__plus_00_dot_97_bar__minus_01_dot_55 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52)\n (inReceptacle PepperShaker_bar__plus_01_dot_59_bar__plus_00_dot_91_bar__minus_01_dot_29 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52)\n (inReceptacle Knife_bar__plus_01_dot_73_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 SoapBottle_bar__plus_01_dot_87_bar__plus_00_dot_91_bar__minus_01_dot_29 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52)\n (inReceptacle Mug_bar__plus_01_dot_87_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 ButterKnife_bar__plus_00_dot_30_bar__plus_00_dot_90_bar__minus_01_dot_30 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52)\n (inReceptacle Pot_bar__plus_01_dot_53_bar__plus_00_dot_91_bar__plus_00_dot_06 StoveBurner_bar__plus_01_dot_55_bar__plus_00_dot_91_bar__plus_00_dot_08)\n (inReceptacle SaltShaker_bar__plus_01_dot_84_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 SaltShaker_bar__plus_01_dot_73_bar__plus_02_dot_13_bar__plus_00_dot_88 Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_30_bar__plus_00_dot_69)\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 PepperShaker_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 Plate_bar__plus_01_dot_81_bar__plus_01_dot_63_bar__minus_00_dot_90 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_64_bar__minus_01_dot_77 Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_01_dot_89)\n (inReceptacle DishSponge_bar__plus_01_dot_74_bar__plus_00_dot_07_bar__plus_01_dot_54 GarbageCan_bar__plus_01_dot_77_bar__plus_00_dot_00_bar__plus_01_dot_69)\n (inReceptacle Egg_bar__plus_01_dot_80_bar__plus_00_dot_11_bar__plus_01_dot_83 GarbageCan_bar__plus_01_dot_77_bar__plus_00_dot_00_bar__plus_01_dot_69)\n (inReceptacle DishSponge_bar__plus_01_dot_03_bar__plus_00_dot_76_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 Apple_bar__plus_00_dot_96_bar__plus_00_dot_82_bar__minus_01_dot_49 Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60_bar_SinkBasin)\n (inReceptacle Knife_bar__plus_01_dot_14_bar__plus_00_dot_76_bar__minus_01_dot_58 Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60_bar_SinkBasin)\n (inReceptacle Potato_bar__plus_01_dot_80_bar__plus_01_dot_06_bar__minus_00_dot_89 Microwave_bar__plus_01_dot_75_bar__plus_00_dot_90_bar__minus_00_dot_84)\n (inReceptacle Potato_bar__minus_00_dot_69_bar__plus_00_dot_79_bar__minus_01_dot_59 Fridge_bar__minus_00_dot_53_bar__plus_00_dot_00_bar__minus_01_dot_55)\n (inReceptacle Bowl_bar__minus_00_dot_69_bar__plus_01_dot_39_bar__minus_01_dot_59 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_92_bar__plus_00_dot_91_bar__plus_00_dot_57 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Spoon_bar__plus_00_dot_73_bar__plus_00_dot_91_bar__plus_00_dot_83 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation DishSponge_bar__plus_01_dot_74_bar__plus_00_dot_07_bar__plus_01_dot_54 loc_bar_6_bar_9_bar_2_bar_60)\n (objectAtLocation PepperShaker_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__plus_01_dot_27 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Knife_bar__plus_01_dot_14_bar__plus_00_dot_76_bar__minus_01_dot_58 loc_bar_4_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Potato_bar__plus_01_dot_80_bar__plus_01_dot_06_bar__minus_00_dot_89 loc_bar_4_bar__minus_3_bar_1_bar_45)\n (objectAtLocation Spatula_bar__plus_00_dot_73_bar__plus_00_dot_93_bar__plus_00_dot_92 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Pan_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 (objectAtLocation SaltShaker_bar__plus_01_dot_73_bar__plus_02_dot_13_bar__plus_00_dot_88 loc_bar_4_bar_1_bar_1_bar__minus_30)\n (objectAtLocation Apple_bar__plus_01_dot_73_bar__plus_00_dot_97_bar__minus_01_dot_55 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Fork_bar__plus_01_dot_61_bar__plus_00_dot_91_bar__plus_00_dot_57 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Egg_bar__plus_01_dot_80_bar__plus_00_dot_11_bar__plus_01_dot_83 loc_bar_6_bar_9_bar_2_bar_60)\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 PepperShaker_bar__plus_01_dot_59_bar__plus_00_dot_91_bar__minus_01_dot_29 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__plus_01_dot_84_bar__plus_02_dot_13_bar__plus_01_dot_24 loc_bar_6_bar_9_bar_2_bar__minus_30)\n (objectAtLocation Knife_bar__plus_00_dot_22_bar__plus_00_dot_94_bar__plus_00_dot_83 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_81_bar__plus_01_dot_63_bar__minus_00_dot_90 loc_bar_3_bar__minus_3_bar_1_bar__minus_30)\n (objectAtLocation SoapBottle_bar__plus_01_dot_87_bar__plus_00_dot_91_bar__minus_01_dot_29 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Cup_bar__plus_00_dot_48_bar__plus_00_dot_91_bar__plus_01_dot_18 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Egg_bar__plus_01_dot_94_bar__plus_00_dot_95_bar__minus_01_dot_37 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Fork_bar__plus_01_dot_68_bar__plus_00_dot_91_bar__plus_00_dot_52 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Ladle_bar__plus_01_dot_76_bar__plus_00_dot_95_bar__plus_01_dot_18 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Apple_bar__plus_00_dot_96_bar__plus_00_dot_82_bar__minus_01_dot_49 loc_bar_4_bar__minus_3_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__plus_01_dot_81_bar__plus_01_dot_64_bar__minus_01_dot_77 loc_bar_4_bar__minus_3_bar_2_bar__minus_15)\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__plus_00_dot_36_bar__plus_00_dot_98_bar__minus_01_dot_26 loc_bar_2_bar__minus_3_bar_2_bar_45)\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_52_bar__plus_00_dot_93_bar__minus_01_dot_46 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_69_bar__plus_00_dot_79_bar__minus_01_dot_59 loc_bar__minus_2_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Knife_bar__plus_01_dot_73_bar__plus_00_dot_94_bar__minus_01_dot_46 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__plus_00_dot_30_bar__plus_00_dot_90_bar__minus_01_dot_30 loc_bar_2_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_99_bar__plus_00_dot_99_bar__plus_00_dot_74 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Lettuce_bar__plus_00_dot_86_bar__plus_00_dot_99_bar__plus_01_dot_12 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation PepperShaker_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 Pot_bar__plus_01_dot_53_bar__plus_00_dot_91_bar__plus_00_dot_06 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_03_bar__plus_00_dot_76_bar__minus_01_dot_71 loc_bar_4_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Spoon_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_01_dot_00 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_69_bar__plus_01_dot_39_bar__minus_01_dot_59 loc_bar__minus_2_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Mug_bar__plus_01_dot_87_bar__plus_00_dot_91_bar__minus_01_dot_80 loc_bar_2_bar__minus_3_bar_2_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 PanType)\n (receptacleType ?r CounterTopType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 PanType)\n (receptacleType ?r CounterTopType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to stoveburner 2", "take pan 1 from stoveburner 2", "go to coffeemachine 1", "move pan 1 to countertop 2", "go to stoveburner 4", "take pan 2 from stoveburner 4", "go to coffeemachine 1", "move pan 2 to countertop 2"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pan-None-CounterTop-14/trial_T20190918_175910_161432/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pan-None-CounterTop-14/trial_T20190918_175910_161432/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..d9285a81dc556256be73a0edc764d67511a081dd --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pan-None-CounterTop-14/trial_T20190918_175910_161432/initial_state.pddl @@ -0,0 +1,817 @@ + +(define (problem plan_trial_T20190918_175910_161432) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_96_bar__plus_00_dot_82_bar__minus_01_dot_49 - object + Apple_bar__plus_01_dot_73_bar__plus_00_dot_97_bar__minus_01_dot_55 - object + Bowl_bar__minus_00_dot_69_bar__plus_01_dot_39_bar__minus_01_dot_59 - object + Bread_bar__plus_00_dot_99_bar__plus_00_dot_99_bar__plus_00_dot_74 - 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_00_dot_48_bar__plus_00_dot_91_bar__plus_01_dot_18 - object + DishSponge_bar__plus_01_dot_03_bar__plus_00_dot_76_bar__minus_01_dot_71 - object + DishSponge_bar__plus_01_dot_74_bar__plus_00_dot_07_bar__plus_01_dot_54 - object + Egg_bar__plus_01_dot_80_bar__plus_00_dot_11_bar__plus_01_dot_83 - object + Egg_bar__plus_01_dot_94_bar__plus_00_dot_95_bar__minus_01_dot_37 - object + Faucet_bar__plus_01_dot_11_bar__plus_01_dot_14_bar__minus_01_dot_76 - object + Fork_bar__plus_01_dot_61_bar__plus_00_dot_91_bar__plus_00_dot_57 - object + Fork_bar__plus_01_dot_68_bar__plus_00_dot_91_bar__plus_00_dot_52 - object + Knife_bar__plus_00_dot_22_bar__plus_00_dot_94_bar__plus_00_dot_83 - object + Knife_bar__plus_01_dot_14_bar__plus_00_dot_76_bar__minus_01_dot_58 - object + Knife_bar__plus_01_dot_73_bar__plus_00_dot_94_bar__minus_01_dot_46 - object + Ladle_bar__plus_01_dot_76_bar__plus_00_dot_95_bar__plus_01_dot_18 - object + Lettuce_bar__plus_00_dot_86_bar__plus_00_dot_99_bar__plus_01_dot_12 - 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_80 - object + Mug_bar__plus_01_dot_92_bar__plus_00_dot_91_bar__plus_00_dot_57 - object + Pan_bar__plus_01_dot_54_bar__plus_00_dot_91_bar__minus_00_dot_32 - object + Pan_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_32 - object + PepperShaker_bar__plus_01_dot_59_bar__plus_00_dot_91_bar__minus_01_dot_29 - object + PepperShaker_bar__plus_01_dot_73_bar__plus_01_dot_65_bar__minus_00_dot_45 - object + PepperShaker_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__plus_01_dot_27 - 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_63_bar__minus_00_dot_90 - object + Potato_bar__plus_01_dot_80_bar__plus_01_dot_06_bar__minus_00_dot_89 - object + Potato_bar__minus_00_dot_69_bar__plus_00_dot_79_bar__minus_01_dot_59 - object + Pot_bar__plus_01_dot_53_bar__plus_00_dot_91_bar__plus_00_dot_06 - object + SaltShaker_bar__plus_01_dot_73_bar__plus_02_dot_13_bar__plus_00_dot_88 - object + SaltShaker_bar__plus_01_dot_81_bar__plus_01_dot_64_bar__minus_01_dot_77 - object + SaltShaker_bar__plus_01_dot_84_bar__plus_02_dot_13_bar__plus_01_dot_24 - object + Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60 - object + SoapBottle_bar__plus_01_dot_87_bar__plus_00_dot_91_bar__minus_01_dot_29 - object + Spatula_bar__plus_00_dot_73_bar__plus_00_dot_93_bar__plus_00_dot_92 - object + Spatula_bar__plus_01_dot_52_bar__plus_00_dot_93_bar__minus_01_dot_46 - object + Spoon_bar__plus_00_dot_73_bar__plus_00_dot_91_bar__plus_00_dot_83 - object + Spoon_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_01_dot_00 - 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_36_bar__plus_00_dot_98_bar__minus_01_dot_26 - 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_6_bar_8_bar_0_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 Bowl_bar__minus_00_dot_69_bar__plus_01_dot_39_bar__minus_01_dot_59 BowlType) + (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 Knife_bar__plus_00_dot_22_bar__plus_00_dot_94_bar__plus_00_dot_83 KnifeType) + (objectType Potato_bar__minus_00_dot_69_bar__plus_00_dot_79_bar__minus_01_dot_59 PotatoType) + (objectType Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60 SinkType) + (objectType Pot_bar__plus_01_dot_53_bar__plus_00_dot_91_bar__plus_00_dot_06 PotType) + (objectType Pan_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_32 PanType) + (objectType StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__plus_00_dot_09 StoveKnobType) + (objectType Fork_bar__plus_01_dot_68_bar__plus_00_dot_91_bar__plus_00_dot_52 ForkType) + (objectType Egg_bar__plus_01_dot_94_bar__plus_00_dot_95_bar__minus_01_dot_37 EggType) + (objectType Tomato_bar__plus_00_dot_36_bar__plus_00_dot_98_bar__minus_01_dot_26 TomatoType) + (objectType SaltShaker_bar__plus_01_dot_81_bar__plus_01_dot_64_bar__minus_01_dot_77 SaltShakerType) + (objectType Spatula_bar__plus_01_dot_52_bar__plus_00_dot_93_bar__minus_01_dot_46 SpatulaType) + (objectType PepperShaker_bar__plus_01_dot_73_bar__plus_01_dot_65_bar__minus_00_dot_45 PepperShakerType) + (objectType Spoon_bar__plus_00_dot_73_bar__plus_00_dot_91_bar__plus_00_dot_83 SpoonType) + (objectType Plate_bar__plus_01_dot_80_bar__plus_01_dot_65_bar_00_dot_00 PlateType) + (objectType PepperShaker_bar__plus_01_dot_59_bar__plus_00_dot_91_bar__minus_01_dot_29 PepperShakerType) + (objectType Fork_bar__plus_01_dot_61_bar__plus_00_dot_91_bar__plus_00_dot_57 ForkType) + (objectType Apple_bar__plus_00_dot_96_bar__plus_00_dot_82_bar__minus_01_dot_49 AppleType) + (objectType Window_bar__minus_00_dot_37_bar__plus_01_dot_59_bar__plus_03_dot_35 WindowType) + (objectType StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_05 StoveKnobType) + (objectType Mug_bar__plus_01_dot_87_bar__plus_00_dot_91_bar__minus_01_dot_80 MugType) + (objectType ButterKnife_bar__plus_00_dot_30_bar__plus_00_dot_90_bar__minus_01_dot_30 ButterKnifeType) + (objectType SaltShaker_bar__plus_01_dot_84_bar__plus_02_dot_13_bar__plus_01_dot_24 SaltShakerType) + (objectType Ladle_bar__plus_01_dot_76_bar__plus_00_dot_95_bar__plus_01_dot_18 LadleType) + (objectType DishSponge_bar__plus_01_dot_74_bar__plus_00_dot_07_bar__plus_01_dot_54 DishSpongeType) + (objectType Spatula_bar__plus_00_dot_73_bar__plus_00_dot_93_bar__plus_00_dot_92 SpatulaType) + (objectType StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_18 StoveKnobType) + (objectType Bread_bar__plus_00_dot_99_bar__plus_00_dot_99_bar__plus_00_dot_74 BreadType) + (objectType Cup_bar__plus_00_dot_48_bar__plus_00_dot_91_bar__plus_01_dot_18 CupType) + (objectType DishSponge_bar__plus_01_dot_03_bar__plus_00_dot_76_bar__minus_01_dot_71 DishSpongeType) + (objectType Window_bar__plus_00_dot_78_bar__plus_01_dot_74_bar__minus_01_dot_89 WindowType) + (objectType Plate_bar__plus_01_dot_81_bar__plus_01_dot_63_bar__minus_00_dot_90 PlateType) + (objectType Lettuce_bar__plus_00_dot_86_bar__plus_00_dot_99_bar__plus_01_dot_12 LettuceType) + (objectType Chair_bar__plus_01_dot_09_bar__plus_00_dot_00_bar__plus_01_dot_74 ChairType) + (objectType Knife_bar__plus_01_dot_73_bar__plus_00_dot_94_bar__minus_01_dot_46 KnifeType) + (objectType Knife_bar__plus_01_dot_14_bar__plus_00_dot_76_bar__minus_01_dot_58 KnifeType) + (objectType Egg_bar__plus_01_dot_80_bar__plus_00_dot_11_bar__plus_01_dot_83 EggType) + (objectType PepperShaker_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__plus_01_dot_27 PepperShakerType) + (objectType Mug_bar__plus_01_dot_92_bar__plus_00_dot_91_bar__plus_00_dot_57 MugType) + (objectType Potato_bar__plus_01_dot_80_bar__plus_01_dot_06_bar__minus_00_dot_89 PotatoType) + (objectType Apple_bar__plus_01_dot_73_bar__plus_00_dot_97_bar__minus_01_dot_55 AppleType) + (objectType Spoon_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_01_dot_00 SpoonType) + (objectType SoapBottle_bar__plus_01_dot_87_bar__plus_00_dot_91_bar__minus_01_dot_29 SoapBottleType) + (objectType Pan_bar__plus_01_dot_54_bar__plus_00_dot_91_bar__minus_00_dot_32 PanType) + (objectType SaltShaker_bar__plus_01_dot_73_bar__plus_02_dot_13_bar__plus_00_dot_88 SaltShakerType) + (objectType StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_32 StoveKnobType) + (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) + 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(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 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 CabinetType SaltShakerType) + (canContain CabinetType DishSpongeType) + (canContain CabinetType BowlType) + (canContain CabinetType PotType) + (canContain CabinetType MugType) + (canContain CabinetType LadleType) + (canContain CabinetType SoapBottleType) + (canContain 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0.8276406 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Bowl_7266264e", + "position": { + "x": -0.692971647, + "y": 1.38769758, + "z": -1.59446669 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_f9995e03", + "position": { + "x": 1.91716385, + "y": 0.905599952, + "z": 0.5708331 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2652701631, + "scene_num": 14 + }, + "task_id": "trial_T20190918_175910_161432", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "ARL7HOWLEHNOP_3OCHAWUVGR1ZTJ5RVA5CBPZ91BCKX1", + "high_descs": [ + "Turn around, walk across he room, turn left, then walk forward to the stove.", + "Pick up the pan on the front right burner of the stove.", + "Turn left and face towards the counter.", + "Place the pan on top of the counter to the right of the bread load.", + "Turn around, walk forward, turn left to face the stove.", + "Pick up the pan on the back right burner of the stove.", + "Turn left and walk to the counter.", + "Place the pan on the far left side of the counter in front of the green cup." + ], + "task_desc": "Place the pans on the counter", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A320QA9HJFUOZO_3SUWZRL0M1UJO4TLY1LJDH9KKCWE60", + "high_descs": [ + "Turn around and walk into the kitchen over to the stove", + "Pick up the pan from the front right stove burner", + "Turn left and approach the counter with bread on it", + "Put the pan down on the counter to the right of the bread", + "Turn right and walk back to the stove", + "Pick up the pan from the back right stove burner", + "Turn left and walk back to the counter with bread on it", + "Put the pan down on the counter left of the bread loaf" + ], + "task_desc": "Put the pans on the kitchen counter", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1HKHM4NVAO98H_3U8YCDAGXSXD7WXB5302YXO7Q22Q07", + "high_descs": [ + "walk over to the kitchen stove", + "grab a sauce pan off of the stove", + "turn left to face the kitchen counter", + "place the sauce pan on the kitchen counter there", + "turn right to face the stove again", + "grab another sauce pan off of the stove", + "turn left to face the counter again", + "put the sauce pan down on the counter" + ], + "task_desc": "pick up the two sauce pans off the stove to put them on the counter to the left", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-TissueBox-None-Shelf-313/trial_T20190907_041542_260231/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-TissueBox-None-Shelf-313/trial_T20190907_041542_260231/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..e358bf7d836c67aead0cb8c484eda7471875f506 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-TissueBox-None-Shelf-313/trial_T20190907_041542_260231/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put two tissuebox in 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_T20190907_041542_260231)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n AlarmClock_bar__plus_01_dot_23_bar__plus_00_dot_70_bar__minus_01_dot_33 - object\n AlarmClock_bar__plus_01_dot_49_bar__plus_00_dot_71_bar__minus_00_dot_62 - object\n BaseballBat_bar__minus_02_dot_20_bar__plus_00_dot_04_bar__minus_01_dot_34 - object\n Blinds_bar__plus_00_dot_01_bar__plus_02_dot_15_bar__minus_02_dot_01 - object\n Book_bar__plus_00_dot_39_bar__plus_00_dot_08_bar__minus_01_dot_48 - object\n Box_bar__plus_00_dot_25_bar__plus_00_dot_95_bar__minus_01_dot_62 - object\n Box_bar__plus_01_dot_54_bar__plus_01_dot_65_bar__plus_00_dot_69 - object\n CD_bar__plus_01_dot_49_bar__plus_00_dot_71_bar__minus_00_dot_31 - object\n CD_bar__minus_00_dot_07_bar__plus_00_dot_29_bar__minus_01_dot_53 - object\n CellPhone_bar__plus_00_dot_00_bar__plus_00_dot_70_bar__minus_01_dot_33 - object\n CellPhone_bar__minus_01_dot_48_bar__plus_00_dot_53_bar__plus_00_dot_16 - object\n Chair_bar__plus_00_dot_95_bar__plus_00_dot_00_bar__minus_01_dot_23 - object\n CreditCard_bar__plus_00_dot_02_bar__plus_00_dot_08_bar__minus_01_dot_64 - object\n CreditCard_bar__plus_01_dot_64_bar__plus_00_dot_71_bar__minus_00_dot_23 - object\n HousePlant_bar__plus_01_dot_49_bar__plus_01_dot_40_bar__plus_00_dot_04 - object\n KeyChain_bar__plus_00_dot_25_bar__plus_00_dot_70_bar__minus_01_dot_52 - object\n KeyChain_bar__plus_01_dot_60_bar__plus_00_dot_71_bar__minus_00_dot_47 - object\n KeyChain_bar__plus_01_dot_68_bar__plus_00_dot_71_bar__minus_00_dot_54 - object\n Lamp_bar__plus_01_dot_30_bar__plus_00_dot_69_bar__minus_01_dot_72 - object\n Laptop_bar__minus_01_dot_48_bar__plus_00_dot_53_bar__minus_00_dot_57 - object\n Laptop_bar__minus_02_dot_07_bar__plus_00_dot_53_bar__minus_00_dot_33 - object\n LightSwitch_bar__plus_00_dot_23_bar__plus_01_dot_29_bar__plus_00_dot_96 - object\n Mirror_bar__minus_00_dot_69_bar__plus_01_dot_50_bar__plus_00_dot_96 - object\n Mug_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_33 - object\n Mug_bar__plus_01_dot_23_bar__plus_00_dot_70_bar__minus_01_dot_52 - object\n Mug_bar__plus_01_dot_48_bar__plus_00_dot_70_bar__minus_01_dot_52 - object\n Painting_bar__minus_02_dot_40_bar__plus_01_dot_70_bar__minus_00_dot_86 - object\n Pencil_bar__minus_00_dot_61_bar__plus_00_dot_06_bar__plus_00_dot_80 - object\n Pen_bar__plus_00_dot_34_bar__plus_00_dot_50_bar__minus_01_dot_48 - object\n Pen_bar__plus_00_dot_49_bar__plus_00_dot_71_bar__minus_01_dot_52 - object\n Pen_bar__minus_00_dot_07_bar__plus_00_dot_09_bar__minus_01_dot_48 - object\n Pillow_bar__minus_02_dot_04_bar__plus_00_dot_55_bar__plus_00_dot_68 - object\n TeddyBear_bar__minus_02_dot_20_bar__plus_00_dot_50_bar__plus_00_dot_18 - object\n TennisRacket_bar__minus_02_dot_25_bar__plus_00_dot_32_bar__minus_01_dot_81 - object\n TissueBox_bar__plus_00_dot_99_bar__plus_00_dot_71_bar__minus_01_dot_33 - object\n TissueBox_bar__plus_01_dot_48_bar__plus_00_dot_71_bar__minus_01_dot_33 - object\n Window_bar__plus_00_dot_05_bar__plus_01_dot_56_bar__minus_02_dot_08 - object\n Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03 - receptacle\n Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63 - receptacle\n Drawer_bar__plus_00_dot_39_bar__plus_00_dot_13_bar__minus_01_dot_46 - receptacle\n Drawer_bar__plus_00_dot_39_bar__plus_00_dot_33_bar__minus_01_dot_46 - receptacle\n Drawer_bar__plus_00_dot_39_bar__plus_00_dot_54_bar__minus_01_dot_46 - receptacle\n Drawer_bar__minus_00_dot_03_bar__plus_00_dot_13_bar__minus_01_dot_46 - receptacle\n Drawer_bar__minus_00_dot_03_bar__plus_00_dot_33_bar__minus_01_dot_46 - receptacle\n Drawer_bar__minus_00_dot_03_bar__plus_00_dot_54_bar__minus_01_dot_46 - receptacle\n GarbageCan_bar__minus_00_dot_61_bar__plus_00_dot_00_bar__plus_00_dot_80 - receptacle\n Shelf_bar__plus_01_dot_54_bar__plus_00_dot_48_bar__minus_00_dot_47 - receptacle\n Shelf_bar__plus_01_dot_55_bar__plus_01_dot_40_bar__plus_00_dot_38 - receptacle\n SideTable_bar__plus_01_dot_56_bar__minus_00_dot_01_bar__minus_00_dot_47 - receptacle\n loc_bar_0_bar_2_bar_1_bar_15 - location\n loc_bar_0_bar__minus_4_bar_2_bar_0 - location\n loc_bar__minus_3_bar__minus_5_bar_3_bar_45 - location\n loc_bar_3_bar__minus_1_bar_1_bar_60 - location\n loc_bar__minus_2_bar__minus_2_bar_2_bar_45 - location\n loc_bar__minus_2_bar_1_bar_0_bar_60 - location\n loc_bar_4_bar__minus_1_bar_2_bar_45 - location\n loc_bar__minus_3_bar__minus_6_bar_3_bar_45 - location\n loc_bar_1_bar_2_bar_0_bar_45 - location\n loc_bar__minus_3_bar_1_bar_0_bar_15 - location\n loc_bar_0_bar__minus_4_bar_2_bar__minus_30 - location\n loc_bar__minus_3_bar__minus_3_bar_3_bar_0 - location\n loc_bar_4_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_2_bar_0_bar_3_bar_45 - location\n loc_bar__minus_2_bar__minus_2_bar_2_bar_60 - location\n loc_bar_2_bar__minus_1_bar_1_bar_60 - location\n loc_bar_0_bar__minus_2_bar_2_bar_45 - location\n loc_bar_3_bar__minus_2_bar_2_bar_60 - location\n loc_bar_2_bar__minus_1_bar_2_bar_45 - location\n loc_bar__minus_1_bar_0_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Shelf_bar__plus_01_dot_55_bar__plus_01_dot_40_bar__plus_00_dot_38 ShelfType)\n (receptacleType GarbageCan_bar__minus_00_dot_61_bar__plus_00_dot_00_bar__plus_00_dot_80 GarbageCanType)\n (receptacleType Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03 BedType)\n (receptacleType Drawer_bar__plus_00_dot_39_bar__plus_00_dot_54_bar__minus_01_dot_46 DrawerType)\n (receptacleType Shelf_bar__plus_01_dot_54_bar__plus_00_dot_48_bar__minus_00_dot_47 ShelfType)\n (receptacleType Drawer_bar__plus_00_dot_39_bar__plus_00_dot_13_bar__minus_01_dot_46 DrawerType)\n (receptacleType Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63 DeskType)\n (receptacleType Drawer_bar__minus_00_dot_03_bar__plus_00_dot_13_bar__minus_01_dot_46 DrawerType)\n (receptacleType SideTable_bar__plus_01_dot_56_bar__minus_00_dot_01_bar__minus_00_dot_47 SideTableType)\n (receptacleType Drawer_bar__minus_00_dot_03_bar__plus_00_dot_54_bar__minus_01_dot_46 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_03_bar__plus_00_dot_33_bar__minus_01_dot_46 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_39_bar__plus_00_dot_33_bar__minus_01_dot_46 DrawerType)\n (objectType Pen_bar__minus_00_dot_07_bar__plus_00_dot_09_bar__minus_01_dot_48 PenType)\n (objectType Mug_bar__plus_01_dot_48_bar__plus_00_dot_70_bar__minus_01_dot_52 MugType)\n (objectType BaseballBat_bar__minus_02_dot_20_bar__plus_00_dot_04_bar__minus_01_dot_34 BaseballBatType)\n (objectType AlarmClock_bar__plus_01_dot_23_bar__plus_00_dot_70_bar__minus_01_dot_33 AlarmClockType)\n (objectType KeyChain_bar__plus_00_dot_25_bar__plus_00_dot_70_bar__minus_01_dot_52 KeyChainType)\n (objectType TissueBox_bar__plus_01_dot_48_bar__plus_00_dot_71_bar__minus_01_dot_33 TissueBoxType)\n (objectType HousePlant_bar__plus_01_dot_49_bar__plus_01_dot_40_bar__plus_00_dot_04 HousePlantType)\n (objectType Box_bar__plus_00_dot_25_bar__plus_00_dot_95_bar__minus_01_dot_62 BoxType)\n (objectType CellPhone_bar__plus_00_dot_00_bar__plus_00_dot_70_bar__minus_01_dot_33 CellPhoneType)\n (objectType Laptop_bar__minus_01_dot_48_bar__plus_00_dot_53_bar__minus_00_dot_57 LaptopType)\n (objectType TissueBox_bar__plus_00_dot_99_bar__plus_00_dot_71_bar__minus_01_dot_33 TissueBoxType)\n (objectType Book_bar__plus_00_dot_39_bar__plus_00_dot_08_bar__minus_01_dot_48 BookType)\n (objectType Pen_bar__plus_00_dot_34_bar__plus_00_dot_50_bar__minus_01_dot_48 PenType)\n (objectType TeddyBear_bar__minus_02_dot_20_bar__plus_00_dot_50_bar__plus_00_dot_18 TeddyBearType)\n (objectType Chair_bar__plus_00_dot_95_bar__plus_00_dot_00_bar__minus_01_dot_23 ChairType)\n (objectType LightSwitch_bar__plus_00_dot_23_bar__plus_01_dot_29_bar__plus_00_dot_96 LightSwitchType)\n (objectType CreditCard_bar__plus_01_dot_64_bar__plus_00_dot_71_bar__minus_00_dot_23 CreditCardType)\n (objectType Pencil_bar__minus_00_dot_61_bar__plus_00_dot_06_bar__plus_00_dot_80 PencilType)\n (objectType KeyChain_bar__plus_01_dot_60_bar__plus_00_dot_71_bar__minus_00_dot_47 KeyChainType)\n (objectType CD_bar__plus_01_dot_49_bar__plus_00_dot_71_bar__minus_00_dot_31 CDType)\n (objectType Mirror_bar__minus_00_dot_69_bar__plus_01_dot_50_bar__plus_00_dot_96 MirrorType)\n (objectType KeyChain_bar__plus_01_dot_68_bar__plus_00_dot_71_bar__minus_00_dot_54 KeyChainType)\n (objectType Painting_bar__minus_02_dot_40_bar__plus_01_dot_70_bar__minus_00_dot_86 PaintingType)\n (objectType Mug_bar__plus_01_dot_23_bar__plus_00_dot_70_bar__minus_01_dot_52 MugType)\n (objectType Pen_bar__plus_00_dot_49_bar__plus_00_dot_71_bar__minus_01_dot_52 PenType)\n (objectType CreditCard_bar__plus_00_dot_02_bar__plus_00_dot_08_bar__minus_01_dot_64 CreditCardType)\n (objectType Box_bar__plus_01_dot_54_bar__plus_01_dot_65_bar__plus_00_dot_69 BoxType)\n (objectType CD_bar__minus_00_dot_07_bar__plus_00_dot_29_bar__minus_01_dot_53 CDType)\n (objectType Mug_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_33 MugType)\n (objectType Laptop_bar__minus_02_dot_07_bar__plus_00_dot_53_bar__minus_00_dot_33 LaptopType)\n (objectType Blinds_bar__plus_00_dot_01_bar__plus_02_dot_15_bar__minus_02_dot_01 BlindsType)\n (objectType Pillow_bar__minus_02_dot_04_bar__plus_00_dot_55_bar__plus_00_dot_68 PillowType)\n (objectType TennisRacket_bar__minus_02_dot_25_bar__plus_00_dot_32_bar__minus_01_dot_81 TennisRacketType)\n (objectType Window_bar__plus_00_dot_05_bar__plus_01_dot_56_bar__minus_02_dot_08 WindowType)\n (objectType AlarmClock_bar__plus_01_dot_49_bar__plus_00_dot_71_bar__minus_00_dot_62 AlarmClockType)\n (objectType CellPhone_bar__minus_01_dot_48_bar__plus_00_dot_53_bar__plus_00_dot_16 CellPhoneType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType AlarmClockType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType PencilType)\n (canContain GarbageCanType TissueBoxType)\n (canContain BedType BaseballBatType)\n (canContain BedType TennisRacketType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType 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 TissueBoxType)\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 TissueBoxType)\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 TissueBoxType)\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 TennisRacketType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType TissueBoxType)\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 TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (pickupable Pen_bar__minus_00_dot_07_bar__plus_00_dot_09_bar__minus_01_dot_48)\n (pickupable Mug_bar__plus_01_dot_48_bar__plus_00_dot_70_bar__minus_01_dot_52)\n (pickupable BaseballBat_bar__minus_02_dot_20_bar__plus_00_dot_04_bar__minus_01_dot_34)\n (pickupable AlarmClock_bar__plus_01_dot_23_bar__plus_00_dot_70_bar__minus_01_dot_33)\n (pickupable KeyChain_bar__plus_00_dot_25_bar__plus_00_dot_70_bar__minus_01_dot_52)\n (pickupable TissueBox_bar__plus_01_dot_48_bar__plus_00_dot_71_bar__minus_01_dot_33)\n (pickupable Box_bar__plus_00_dot_25_bar__plus_00_dot_95_bar__minus_01_dot_62)\n (pickupable CellPhone_bar__plus_00_dot_00_bar__plus_00_dot_70_bar__minus_01_dot_33)\n (pickupable Laptop_bar__minus_01_dot_48_bar__plus_00_dot_53_bar__minus_00_dot_57)\n (pickupable TissueBox_bar__plus_00_dot_99_bar__plus_00_dot_71_bar__minus_01_dot_33)\n (pickupable Book_bar__plus_00_dot_39_bar__plus_00_dot_08_bar__minus_01_dot_48)\n (pickupable Pen_bar__plus_00_dot_34_bar__plus_00_dot_50_bar__minus_01_dot_48)\n (pickupable TeddyBear_bar__minus_02_dot_20_bar__plus_00_dot_50_bar__plus_00_dot_18)\n (pickupable CreditCard_bar__plus_01_dot_64_bar__plus_00_dot_71_bar__minus_00_dot_23)\n (pickupable Pencil_bar__minus_00_dot_61_bar__plus_00_dot_06_bar__plus_00_dot_80)\n (pickupable KeyChain_bar__plus_01_dot_60_bar__plus_00_dot_71_bar__minus_00_dot_47)\n (pickupable CD_bar__plus_01_dot_49_bar__plus_00_dot_71_bar__minus_00_dot_31)\n (pickupable KeyChain_bar__plus_01_dot_68_bar__plus_00_dot_71_bar__minus_00_dot_54)\n (pickupable Mug_bar__plus_01_dot_23_bar__plus_00_dot_70_bar__minus_01_dot_52)\n (pickupable Pen_bar__plus_00_dot_49_bar__plus_00_dot_71_bar__minus_01_dot_52)\n (pickupable CreditCard_bar__plus_00_dot_02_bar__plus_00_dot_08_bar__minus_01_dot_64)\n (pickupable Box_bar__plus_01_dot_54_bar__plus_01_dot_65_bar__plus_00_dot_69)\n (pickupable CD_bar__minus_00_dot_07_bar__plus_00_dot_29_bar__minus_01_dot_53)\n (pickupable Mug_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_33)\n (pickupable Laptop_bar__minus_02_dot_07_bar__plus_00_dot_53_bar__minus_00_dot_33)\n (pickupable Pillow_bar__minus_02_dot_04_bar__plus_00_dot_55_bar__plus_00_dot_68)\n (pickupable TennisRacket_bar__minus_02_dot_25_bar__plus_00_dot_32_bar__minus_01_dot_81)\n (pickupable AlarmClock_bar__plus_01_dot_49_bar__plus_00_dot_71_bar__minus_00_dot_62)\n (pickupable CellPhone_bar__minus_01_dot_48_bar__plus_00_dot_53_bar__plus_00_dot_16)\n (isReceptacleObject Mug_bar__plus_01_dot_48_bar__plus_00_dot_70_bar__minus_01_dot_52)\n (isReceptacleObject Box_bar__plus_00_dot_25_bar__plus_00_dot_95_bar__minus_01_dot_62)\n (isReceptacleObject Mug_bar__plus_01_dot_23_bar__plus_00_dot_70_bar__minus_01_dot_52)\n (isReceptacleObject Box_bar__plus_01_dot_54_bar__plus_01_dot_65_bar__plus_00_dot_69)\n (isReceptacleObject Mug_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_33)\n (openable Drawer_bar__plus_00_dot_39_bar__plus_00_dot_54_bar__minus_01_dot_46)\n (openable Drawer_bar__plus_00_dot_39_bar__plus_00_dot_13_bar__minus_01_dot_46)\n (openable Drawer_bar__minus_00_dot_03_bar__plus_00_dot_13_bar__minus_01_dot_46)\n (openable Drawer_bar__minus_00_dot_03_bar__plus_00_dot_54_bar__minus_01_dot_46)\n (openable Drawer_bar__minus_00_dot_03_bar__plus_00_dot_33_bar__minus_01_dot_46)\n (openable Drawer_bar__plus_00_dot_39_bar__plus_00_dot_33_bar__minus_01_dot_46)\n \n (atLocation agent1 loc_bar__minus_1_bar_0_bar_3_bar_30)\n \n (cleanable Mug_bar__plus_01_dot_48_bar__plus_00_dot_70_bar__minus_01_dot_52)\n (cleanable Mug_bar__plus_01_dot_23_bar__plus_00_dot_70_bar__minus_01_dot_52)\n (cleanable Mug_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_33)\n \n (heatable Mug_bar__plus_01_dot_48_bar__plus_00_dot_70_bar__minus_01_dot_52)\n (heatable Mug_bar__plus_01_dot_23_bar__plus_00_dot_70_bar__minus_01_dot_52)\n (heatable Mug_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_33)\n (coolable Mug_bar__plus_01_dot_48_bar__plus_00_dot_70_bar__minus_01_dot_52)\n (coolable Mug_bar__plus_01_dot_23_bar__plus_00_dot_70_bar__minus_01_dot_52)\n (coolable Mug_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_33)\n \n \n \n \n \n \n \n (inReceptacle Pen_bar__plus_00_dot_49_bar__plus_00_dot_71_bar__minus_01_dot_52 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63)\n (inReceptacle Mug_bar__plus_01_dot_48_bar__plus_00_dot_70_bar__minus_01_dot_52 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63)\n (inReceptacle AlarmClock_bar__plus_01_dot_23_bar__plus_00_dot_70_bar__minus_01_dot_33 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63)\n (inReceptacle KeyChain_bar__plus_00_dot_25_bar__plus_00_dot_70_bar__minus_01_dot_52 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63)\n (inReceptacle TissueBox_bar__plus_01_dot_48_bar__plus_00_dot_71_bar__minus_01_dot_33 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63)\n (inReceptacle Box_bar__plus_00_dot_25_bar__plus_00_dot_95_bar__minus_01_dot_62 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63)\n (inReceptacle CellPhone_bar__plus_00_dot_00_bar__plus_00_dot_70_bar__minus_01_dot_33 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63)\n (inReceptacle TissueBox_bar__plus_00_dot_99_bar__plus_00_dot_71_bar__minus_01_dot_33 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63)\n (inReceptacle Mug_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_33 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63)\n (inReceptacle Mug_bar__plus_01_dot_23_bar__plus_00_dot_70_bar__minus_01_dot_52 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63)\n (inReceptacle CD_bar__minus_00_dot_07_bar__plus_00_dot_29_bar__minus_01_dot_53 Drawer_bar__minus_00_dot_03_bar__plus_00_dot_33_bar__minus_01_dot_46)\n (inReceptacle Book_bar__plus_00_dot_39_bar__plus_00_dot_08_bar__minus_01_dot_48 Drawer_bar__plus_00_dot_39_bar__plus_00_dot_13_bar__minus_01_dot_46)\n (inReceptacle CreditCard_bar__plus_01_dot_64_bar__plus_00_dot_71_bar__minus_00_dot_23 SideTable_bar__plus_01_dot_56_bar__minus_00_dot_01_bar__minus_00_dot_47)\n (inReceptacle KeyChain_bar__plus_01_dot_60_bar__plus_00_dot_71_bar__minus_00_dot_47 SideTable_bar__plus_01_dot_56_bar__minus_00_dot_01_bar__minus_00_dot_47)\n (inReceptacle CD_bar__plus_01_dot_49_bar__plus_00_dot_71_bar__minus_00_dot_31 SideTable_bar__plus_01_dot_56_bar__minus_00_dot_01_bar__minus_00_dot_47)\n (inReceptacle KeyChain_bar__plus_01_dot_68_bar__plus_00_dot_71_bar__minus_00_dot_54 SideTable_bar__plus_01_dot_56_bar__minus_00_dot_01_bar__minus_00_dot_47)\n (inReceptacle AlarmClock_bar__plus_01_dot_49_bar__plus_00_dot_71_bar__minus_00_dot_62 SideTable_bar__plus_01_dot_56_bar__minus_00_dot_01_bar__minus_00_dot_47)\n (inReceptacle TeddyBear_bar__minus_02_dot_20_bar__plus_00_dot_50_bar__plus_00_dot_18 Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03)\n (inReceptacle Pillow_bar__minus_02_dot_04_bar__plus_00_dot_55_bar__plus_00_dot_68 Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03)\n (inReceptacle Laptop_bar__minus_01_dot_48_bar__plus_00_dot_53_bar__minus_00_dot_57 Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03)\n (inReceptacle Laptop_bar__minus_02_dot_07_bar__plus_00_dot_53_bar__minus_00_dot_33 Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03)\n (inReceptacle CellPhone_bar__minus_01_dot_48_bar__plus_00_dot_53_bar__plus_00_dot_16 Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03)\n (inReceptacle Pen_bar__plus_00_dot_34_bar__plus_00_dot_50_bar__minus_01_dot_48 Drawer_bar__plus_00_dot_39_bar__plus_00_dot_54_bar__minus_01_dot_46)\n (inReceptacle CreditCard_bar__plus_00_dot_02_bar__plus_00_dot_08_bar__minus_01_dot_64 Drawer_bar__minus_00_dot_03_bar__plus_00_dot_13_bar__minus_01_dot_46)\n (inReceptacle Pen_bar__minus_00_dot_07_bar__plus_00_dot_09_bar__minus_01_dot_48 Drawer_bar__minus_00_dot_03_bar__plus_00_dot_13_bar__minus_01_dot_46)\n (inReceptacle Pencil_bar__minus_00_dot_61_bar__plus_00_dot_06_bar__plus_00_dot_80 GarbageCan_bar__minus_00_dot_61_bar__plus_00_dot_00_bar__plus_00_dot_80)\n (inReceptacle Box_bar__plus_01_dot_54_bar__plus_01_dot_65_bar__plus_00_dot_69 Shelf_bar__plus_01_dot_55_bar__plus_01_dot_40_bar__plus_00_dot_38)\n (inReceptacle HousePlant_bar__plus_01_dot_49_bar__plus_01_dot_40_bar__plus_00_dot_04 Shelf_bar__plus_01_dot_55_bar__plus_01_dot_40_bar__plus_00_dot_38)\n \n \n (receptacleAtLocation Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (receptacleAtLocation Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_39_bar__plus_00_dot_13_bar__minus_01_dot_46 loc_bar_4_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_39_bar__plus_00_dot_33_bar__minus_01_dot_46 loc_bar_3_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_39_bar__plus_00_dot_54_bar__minus_01_dot_46 loc_bar_0_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_03_bar__plus_00_dot_13_bar__minus_01_dot_46 loc_bar_2_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_03_bar__plus_00_dot_33_bar__minus_01_dot_46 loc_bar__minus_2_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_03_bar__plus_00_dot_54_bar__minus_01_dot_46 loc_bar__minus_2_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_61_bar__plus_00_dot_00_bar__plus_00_dot_80 loc_bar__minus_2_bar_1_bar_0_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_54_bar__plus_00_dot_48_bar__minus_00_dot_47 loc_bar_3_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_55_bar__plus_01_dot_40_bar__plus_00_dot_38 loc_bar_0_bar_2_bar_1_bar_15)\n (receptacleAtLocation SideTable_bar__plus_01_dot_56_bar__minus_00_dot_01_bar__minus_00_dot_47 loc_bar_2_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Mug_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_33 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Pen_bar__plus_00_dot_49_bar__plus_00_dot_71_bar__minus_01_dot_52 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation CD_bar__minus_00_dot_07_bar__plus_00_dot_29_bar__minus_01_dot_53 loc_bar__minus_2_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Laptop_bar__minus_01_dot_48_bar__plus_00_dot_53_bar__minus_00_dot_57 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation KeyChain_bar__plus_01_dot_68_bar__plus_00_dot_71_bar__minus_00_dot_54 loc_bar_2_bar__minus_1_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__plus_00_dot_02_bar__plus_00_dot_08_bar__minus_01_dot_64 loc_bar_2_bar__minus_1_bar_2_bar_45)\n (objectAtLocation TissueBox_bar__plus_00_dot_99_bar__plus_00_dot_71_bar__minus_01_dot_33 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__plus_00_dot_00_bar__plus_00_dot_70_bar__minus_01_dot_33 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation AlarmClock_bar__plus_01_dot_23_bar__plus_00_dot_70_bar__minus_01_dot_33 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Box_bar__plus_01_dot_54_bar__plus_01_dot_65_bar__plus_00_dot_69 loc_bar_0_bar_2_bar_1_bar_15)\n (objectAtLocation KeyChain_bar__plus_00_dot_25_bar__plus_00_dot_70_bar__minus_01_dot_52 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Pen_bar__plus_00_dot_34_bar__plus_00_dot_50_bar__minus_01_dot_48 loc_bar_0_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Mug_bar__plus_01_dot_48_bar__plus_00_dot_70_bar__minus_01_dot_52 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Box_bar__plus_00_dot_25_bar__plus_00_dot_95_bar__minus_01_dot_62 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Chair_bar__plus_00_dot_95_bar__plus_00_dot_00_bar__minus_01_dot_23 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Mirror_bar__minus_00_dot_69_bar__plus_01_dot_50_bar__plus_00_dot_96 loc_bar__minus_3_bar_1_bar_0_bar_15)\n (objectAtLocation Book_bar__plus_00_dot_39_bar__plus_00_dot_08_bar__minus_01_dot_48 loc_bar_4_bar__minus_1_bar_2_bar_45)\n (objectAtLocation AlarmClock_bar__plus_01_dot_49_bar__plus_00_dot_71_bar__minus_00_dot_62 loc_bar_2_bar__minus_1_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__minus_01_dot_48_bar__plus_00_dot_53_bar__plus_00_dot_16 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation TissueBox_bar__plus_01_dot_48_bar__plus_00_dot_71_bar__minus_01_dot_33 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation TeddyBear_bar__minus_02_dot_20_bar__plus_00_dot_50_bar__plus_00_dot_18 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation CreditCard_bar__plus_01_dot_64_bar__plus_00_dot_71_bar__minus_00_dot_23 loc_bar_2_bar__minus_1_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__plus_01_dot_60_bar__plus_00_dot_71_bar__minus_00_dot_47 loc_bar_2_bar__minus_1_bar_1_bar_60)\n (objectAtLocation BaseballBat_bar__minus_02_dot_20_bar__plus_00_dot_04_bar__minus_01_dot_34 loc_bar__minus_3_bar__minus_5_bar_3_bar_45)\n (objectAtLocation TennisRacket_bar__minus_02_dot_25_bar__plus_00_dot_32_bar__minus_01_dot_81 loc_bar__minus_3_bar__minus_6_bar_3_bar_45)\n (objectAtLocation Painting_bar__minus_02_dot_40_bar__plus_01_dot_70_bar__minus_00_dot_86 loc_bar__minus_3_bar__minus_3_bar_3_bar_0)\n (objectAtLocation Pillow_bar__minus_02_dot_04_bar__plus_00_dot_55_bar__plus_00_dot_68 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation LightSwitch_bar__plus_00_dot_23_bar__plus_01_dot_29_bar__plus_00_dot_96 loc_bar_1_bar_2_bar_0_bar_45)\n (objectAtLocation Laptop_bar__minus_02_dot_07_bar__plus_00_dot_53_bar__minus_00_dot_33 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation CD_bar__plus_01_dot_49_bar__plus_00_dot_71_bar__minus_00_dot_31 loc_bar_2_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Pen_bar__minus_00_dot_07_bar__plus_00_dot_09_bar__minus_01_dot_48 loc_bar_2_bar__minus_1_bar_2_bar_45)\n (objectAtLocation HousePlant_bar__plus_01_dot_49_bar__plus_01_dot_40_bar__plus_00_dot_04 loc_bar_0_bar_2_bar_1_bar_15)\n (objectAtLocation Window_bar__plus_00_dot_05_bar__plus_01_dot_56_bar__minus_02_dot_08 loc_bar_0_bar__minus_4_bar_2_bar_0)\n (objectAtLocation Pencil_bar__minus_00_dot_61_bar__plus_00_dot_06_bar__plus_00_dot_80 loc_bar__minus_2_bar_1_bar_0_bar_60)\n (objectAtLocation Mug_bar__plus_01_dot_23_bar__plus_00_dot_70_bar__minus_01_dot_52 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Blinds_bar__plus_00_dot_01_bar__plus_02_dot_15_bar__minus_02_dot_01 loc_bar_0_bar__minus_4_bar_2_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 TissueBoxType)\n (receptacleType ?r ShelfType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 TissueBoxType)\n (receptacleType ?r ShelfType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to desk 1", "take tissuebox 2 from desk 1", "go to shelf 1", "move tissuebox 2 to shelf 1", "go to desk 1", "take tissuebox 1 from desk 1", "go to shelf 1", "move tissuebox 1 to shelf 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-TissueBox-None-Shelf-313/trial_T20190907_041542_260231/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-TissueBox-None-Shelf-313/trial_T20190907_041542_260231/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..d9de616af6fb09b7d8f3769cf25caf02e116c022 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-TissueBox-None-Shelf-313/trial_T20190907_041542_260231/initial_state.pddl @@ -0,0 +1,589 @@ + +(define (problem plan_trial_T20190907_041542_260231) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + AlarmClock_bar__plus_01_dot_23_bar__plus_00_dot_70_bar__minus_01_dot_33 - object + AlarmClock_bar__plus_01_dot_49_bar__plus_00_dot_71_bar__minus_00_dot_62 - object + BaseballBat_bar__minus_02_dot_20_bar__plus_00_dot_04_bar__minus_01_dot_34 - object + Blinds_bar__plus_00_dot_01_bar__plus_02_dot_15_bar__minus_02_dot_01 - object + Book_bar__plus_00_dot_39_bar__plus_00_dot_08_bar__minus_01_dot_48 - object + Box_bar__plus_00_dot_25_bar__plus_00_dot_95_bar__minus_01_dot_62 - object + Box_bar__plus_01_dot_54_bar__plus_01_dot_65_bar__plus_00_dot_69 - object + CD_bar__plus_01_dot_49_bar__plus_00_dot_71_bar__minus_00_dot_31 - object + CD_bar__minus_00_dot_07_bar__plus_00_dot_29_bar__minus_01_dot_53 - object + CellPhone_bar__plus_00_dot_00_bar__plus_00_dot_70_bar__minus_01_dot_33 - object + CellPhone_bar__minus_01_dot_48_bar__plus_00_dot_53_bar__plus_00_dot_16 - object + Chair_bar__plus_00_dot_95_bar__plus_00_dot_00_bar__minus_01_dot_23 - object + CreditCard_bar__plus_00_dot_02_bar__plus_00_dot_08_bar__minus_01_dot_64 - object + CreditCard_bar__plus_01_dot_64_bar__plus_00_dot_71_bar__minus_00_dot_23 - object + HousePlant_bar__plus_01_dot_49_bar__plus_01_dot_40_bar__plus_00_dot_04 - object + KeyChain_bar__plus_00_dot_25_bar__plus_00_dot_70_bar__minus_01_dot_52 - object + KeyChain_bar__plus_01_dot_60_bar__plus_00_dot_71_bar__minus_00_dot_47 - object + KeyChain_bar__plus_01_dot_68_bar__plus_00_dot_71_bar__minus_00_dot_54 - object + Lamp_bar__plus_01_dot_30_bar__plus_00_dot_69_bar__minus_01_dot_72 - object + Laptop_bar__minus_01_dot_48_bar__plus_00_dot_53_bar__minus_00_dot_57 - object + Laptop_bar__minus_02_dot_07_bar__plus_00_dot_53_bar__minus_00_dot_33 - object + LightSwitch_bar__plus_00_dot_23_bar__plus_01_dot_29_bar__plus_00_dot_96 - object + Mirror_bar__minus_00_dot_69_bar__plus_01_dot_50_bar__plus_00_dot_96 - object + Mug_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_33 - object + Mug_bar__plus_01_dot_23_bar__plus_00_dot_70_bar__minus_01_dot_52 - object + Mug_bar__plus_01_dot_48_bar__plus_00_dot_70_bar__minus_01_dot_52 - object + Painting_bar__minus_02_dot_40_bar__plus_01_dot_70_bar__minus_00_dot_86 - object + Pencil_bar__minus_00_dot_61_bar__plus_00_dot_06_bar__plus_00_dot_80 - object + Pen_bar__plus_00_dot_34_bar__plus_00_dot_50_bar__minus_01_dot_48 - object + Pen_bar__plus_00_dot_49_bar__plus_00_dot_71_bar__minus_01_dot_52 - object + Pen_bar__minus_00_dot_07_bar__plus_00_dot_09_bar__minus_01_dot_48 - object + Pillow_bar__minus_02_dot_04_bar__plus_00_dot_55_bar__plus_00_dot_68 - object + TeddyBear_bar__minus_02_dot_20_bar__plus_00_dot_50_bar__plus_00_dot_18 - object + TennisRacket_bar__minus_02_dot_25_bar__plus_00_dot_32_bar__minus_01_dot_81 - object + TissueBox_bar__plus_00_dot_99_bar__plus_00_dot_71_bar__minus_01_dot_33 - object + TissueBox_bar__plus_01_dot_48_bar__plus_00_dot_71_bar__minus_01_dot_33 - object + Window_bar__plus_00_dot_05_bar__plus_01_dot_56_bar__minus_02_dot_08 - object + Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03 - receptacle + Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63 - receptacle + Drawer_bar__plus_00_dot_39_bar__plus_00_dot_13_bar__minus_01_dot_46 - receptacle + Drawer_bar__plus_00_dot_39_bar__plus_00_dot_33_bar__minus_01_dot_46 - receptacle + Drawer_bar__plus_00_dot_39_bar__plus_00_dot_54_bar__minus_01_dot_46 - receptacle + Drawer_bar__minus_00_dot_03_bar__plus_00_dot_13_bar__minus_01_dot_46 - receptacle + Drawer_bar__minus_00_dot_03_bar__plus_00_dot_33_bar__minus_01_dot_46 - receptacle + Drawer_bar__minus_00_dot_03_bar__plus_00_dot_54_bar__minus_01_dot_46 - receptacle + GarbageCan_bar__minus_00_dot_61_bar__plus_00_dot_00_bar__plus_00_dot_80 - receptacle + Shelf_bar__plus_01_dot_54_bar__plus_00_dot_48_bar__minus_00_dot_47 - receptacle + Shelf_bar__plus_01_dot_55_bar__plus_01_dot_40_bar__plus_00_dot_38 - receptacle + SideTable_bar__plus_01_dot_56_bar__minus_00_dot_01_bar__minus_00_dot_47 - receptacle + loc_bar_0_bar_2_bar_1_bar_15 - location + loc_bar_0_bar__minus_4_bar_2_bar_0 - location + loc_bar__minus_3_bar__minus_5_bar_3_bar_45 - location + loc_bar_3_bar__minus_1_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_2_bar_2_bar_45 - location + loc_bar__minus_2_bar_1_bar_0_bar_60 - location + loc_bar_4_bar__minus_1_bar_2_bar_45 - location + loc_bar__minus_3_bar__minus_6_bar_3_bar_45 - location + loc_bar_1_bar_2_bar_0_bar_45 - location + loc_bar__minus_3_bar_1_bar_0_bar_15 - location + loc_bar_0_bar__minus_4_bar_2_bar__minus_30 - location + loc_bar__minus_3_bar__minus_3_bar_3_bar_0 - location + loc_bar_4_bar__minus_2_bar_2_bar_60 - location + loc_bar__minus_2_bar_0_bar_3_bar_45 - location + loc_bar__minus_2_bar__minus_2_bar_2_bar_60 - location + loc_bar_2_bar__minus_1_bar_1_bar_60 - location + loc_bar_0_bar__minus_2_bar_2_bar_45 - location + loc_bar_3_bar__minus_2_bar_2_bar_60 - location + loc_bar_2_bar__minus_1_bar_2_bar_45 - location + loc_bar__minus_1_bar_0_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Shelf_bar__plus_01_dot_55_bar__plus_01_dot_40_bar__plus_00_dot_38 ShelfType) + (receptacleType GarbageCan_bar__minus_00_dot_61_bar__plus_00_dot_00_bar__plus_00_dot_80 GarbageCanType) + (receptacleType Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03 BedType) + (receptacleType Drawer_bar__plus_00_dot_39_bar__plus_00_dot_54_bar__minus_01_dot_46 DrawerType) + (receptacleType Shelf_bar__plus_01_dot_54_bar__plus_00_dot_48_bar__minus_00_dot_47 ShelfType) + (receptacleType Drawer_bar__plus_00_dot_39_bar__plus_00_dot_13_bar__minus_01_dot_46 DrawerType) + (receptacleType Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63 DeskType) + (receptacleType Drawer_bar__minus_00_dot_03_bar__plus_00_dot_13_bar__minus_01_dot_46 DrawerType) + (receptacleType SideTable_bar__plus_01_dot_56_bar__minus_00_dot_01_bar__minus_00_dot_47 SideTableType) + (receptacleType Drawer_bar__minus_00_dot_03_bar__plus_00_dot_54_bar__minus_01_dot_46 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_03_bar__plus_00_dot_33_bar__minus_01_dot_46 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_39_bar__plus_00_dot_33_bar__minus_01_dot_46 DrawerType) + (objectType Pen_bar__minus_00_dot_07_bar__plus_00_dot_09_bar__minus_01_dot_48 PenType) + (objectType Mug_bar__plus_01_dot_48_bar__plus_00_dot_70_bar__minus_01_dot_52 MugType) + (objectType BaseballBat_bar__minus_02_dot_20_bar__plus_00_dot_04_bar__minus_01_dot_34 BaseballBatType) + (objectType AlarmClock_bar__plus_01_dot_23_bar__plus_00_dot_70_bar__minus_01_dot_33 AlarmClockType) + (objectType KeyChain_bar__plus_00_dot_25_bar__plus_00_dot_70_bar__minus_01_dot_52 KeyChainType) + (objectType TissueBox_bar__plus_01_dot_48_bar__plus_00_dot_71_bar__minus_01_dot_33 TissueBoxType) + (objectType HousePlant_bar__plus_01_dot_49_bar__plus_01_dot_40_bar__plus_00_dot_04 HousePlantType) + (objectType Box_bar__plus_00_dot_25_bar__plus_00_dot_95_bar__minus_01_dot_62 BoxType) + (objectType CellPhone_bar__plus_00_dot_00_bar__plus_00_dot_70_bar__minus_01_dot_33 CellPhoneType) + (objectType Laptop_bar__minus_01_dot_48_bar__plus_00_dot_53_bar__minus_00_dot_57 LaptopType) + (objectType TissueBox_bar__plus_00_dot_99_bar__plus_00_dot_71_bar__minus_01_dot_33 TissueBoxType) + (objectType Book_bar__plus_00_dot_39_bar__plus_00_dot_08_bar__minus_01_dot_48 BookType) + (objectType Pen_bar__plus_00_dot_34_bar__plus_00_dot_50_bar__minus_01_dot_48 PenType) + (objectType TeddyBear_bar__minus_02_dot_20_bar__plus_00_dot_50_bar__plus_00_dot_18 TeddyBearType) + (objectType Chair_bar__plus_00_dot_95_bar__plus_00_dot_00_bar__minus_01_dot_23 ChairType) + (objectType LightSwitch_bar__plus_00_dot_23_bar__plus_01_dot_29_bar__plus_00_dot_96 LightSwitchType) + (objectType CreditCard_bar__plus_01_dot_64_bar__plus_00_dot_71_bar__minus_00_dot_23 CreditCardType) + (objectType Pencil_bar__minus_00_dot_61_bar__plus_00_dot_06_bar__plus_00_dot_80 PencilType) + (objectType KeyChain_bar__plus_01_dot_60_bar__plus_00_dot_71_bar__minus_00_dot_47 KeyChainType) + (objectType CD_bar__plus_01_dot_49_bar__plus_00_dot_71_bar__minus_00_dot_31 CDType) + (objectType Mirror_bar__minus_00_dot_69_bar__plus_01_dot_50_bar__plus_00_dot_96 MirrorType) + (objectType KeyChain_bar__plus_01_dot_68_bar__plus_00_dot_71_bar__minus_00_dot_54 KeyChainType) + (objectType Painting_bar__minus_02_dot_40_bar__plus_01_dot_70_bar__minus_00_dot_86 PaintingType) + (objectType Mug_bar__plus_01_dot_23_bar__plus_00_dot_70_bar__minus_01_dot_52 MugType) + (objectType Pen_bar__plus_00_dot_49_bar__plus_00_dot_71_bar__minus_01_dot_52 PenType) + (objectType CreditCard_bar__plus_00_dot_02_bar__plus_00_dot_08_bar__minus_01_dot_64 CreditCardType) + (objectType Box_bar__plus_01_dot_54_bar__plus_01_dot_65_bar__plus_00_dot_69 BoxType) + (objectType CD_bar__minus_00_dot_07_bar__plus_00_dot_29_bar__minus_01_dot_53 CDType) + (objectType Mug_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_33 MugType) 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Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03) + (inReceptacle Laptop_bar__minus_02_dot_07_bar__plus_00_dot_53_bar__minus_00_dot_33 Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03) + (inReceptacle CellPhone_bar__minus_01_dot_48_bar__plus_00_dot_53_bar__plus_00_dot_16 Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03) + (inReceptacle Pen_bar__plus_00_dot_34_bar__plus_00_dot_50_bar__minus_01_dot_48 Drawer_bar__plus_00_dot_39_bar__plus_00_dot_54_bar__minus_01_dot_46) + (inReceptacle CreditCard_bar__plus_00_dot_02_bar__plus_00_dot_08_bar__minus_01_dot_64 Drawer_bar__minus_00_dot_03_bar__plus_00_dot_13_bar__minus_01_dot_46) + (inReceptacle Pen_bar__minus_00_dot_07_bar__plus_00_dot_09_bar__minus_01_dot_48 Drawer_bar__minus_00_dot_03_bar__plus_00_dot_13_bar__minus_01_dot_46) + (inReceptacle Pencil_bar__minus_00_dot_61_bar__plus_00_dot_06_bar__plus_00_dot_80 GarbageCan_bar__minus_00_dot_61_bar__plus_00_dot_00_bar__plus_00_dot_80) + (inReceptacle 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5.122642e-06, + "y": 44.99992, + "z": 89.9998245 + } + }, + { + "objectName": "TennisRacket_7b4a37c4", + "position": { + "x": -2.254, + "y": 0.324, + "z": -1.806 + }, + "rotation": { + "x": 15.0002995, + "y": 180.0, + "z": 180.0 + } + }, + { + "objectName": "Pillow_75bd6d3d", + "position": { + "x": -2.03975916, + "y": 0.545, + "z": 0.6772269 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Laptop_44137064", + "position": { + "x": -1.48300779, + "y": 0.525324166, + "z": -0.5704446 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CD_45b3def1", + "position": { + "x": -0.07418126, + "y": 0.289464444, + "z": -1.53239632 + }, + "rotation": { + "x": 0.0, + "y": 179.999939, + "z": 0.0 + } + }, + { + "objectName": "Pen_7d241fed", + "position": { + "x": 0.4949773, + "y": 0.7096362, + "z": -1.52158391 + }, + "rotation": { + "x": 0.0, + "y": 179.999939, + "z": 0.0 + } + }, + { + "objectName": "Pencil_cbb1b9aa", + "position": { + "x": -0.606738, + "y": 0.0551070347, + "z": 0.8 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_6594cbaa", + "position": { + "x": 0.4949771, + "y": 0.6995, + "z": -1.3263979 + }, + "rotation": { + "x": 0.0, + "y": 179.999939, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 4008025461, + "scene_num": 313 + }, + "task_id": "trial_T20190907_041542_260231", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A36DK84J5YJ942_39LOEL67OVM3IKWC2W1LE41E04E83G", + "high_descs": [ + "Move to the desk to the left of you.", + "Pick up a tissue box from the desk.", + "Move to the shelving to the left of you to the right of the book shelf.", + "Place the tissues on the shelving counter.", + "Move to the desk to the right of you.", + "Pick up a tissue box from the desk.", + "Move to the shelving to the left of you to the right of the book shelf.", + "Place the tissues on the shelving counter." + ], + "task_desc": "Put two boxes of tissue from the desk on the shelving counter.", + "votes": [ + 0, + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3HL2LL0LEPZT8_3HMVI3QICM9MNN9FSWLWPOAJVWK1Y6", + "high_descs": [ + "Turn around, go straight, then turn right to the desk.", + "Take the right tissue box from the desk.", + "Turn left to face the black stand.", + "Put the tissue box on the left side of the shelf under the CD on the stand.", + "Turn right to face the desk.", + "Take the tissue box from the desk.", + "Turn left to face the black stand.", + "Put the tissue box on the right of the other tissue box." + ], + "task_desc": "Put two tissue boxes on a shelf on a stand.", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1HKHM4NVAO98H_39N5ACM9HH4A3EK95M46R3ZQP7Q9PM", + "high_descs": [ + "turn around and walk forwards to the book shelf at the end of the room, then turn right and walk over to the desk", + "grab the tissue box off of the desk", + "turn around and walk to the small cabinet to the bottom right of the book shelf on the right", + "place the tissue box in the cabinet", + "turn right and walk back over to the desk", + "grab the tissue box off of the desk there", + "turn around and walk to the small cabinet to the bottom right of the book shelf on the right", + "place the tissue box in the cabinet" + ], + "task_desc": "place the tissue box in the cabinet", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 1, + 0 + ] + }, + { + "assignment_id": "A2871R3LEPWMMK_3Z7VU45IP1YMSDJKOINF3VJL1XN1ZA", + "high_descs": [ + "Turn around and hang a right at the book case to reach the black desk.", + "Pick up the box of tissues to the right of the red object.", + "Turn around and go right to face the small black table next to the book case.", + "Put the box of tissues on the left side of the shelf under the top of the table.", + "Turn right to face the large black desk.", + "Pick up the box of tissues to the left of the red object.", + "Turn around and go right to face the small black table next to the book case.", + "Put the box of tissues on the right side of the shelf under the top of the table." + ], + "task_desc": "Put two boxes of tissues on a shelf.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1ZE52NWZPN85P_3WS1NTTKE1TGG772RNP8MYKTK2E0FD", + "high_descs": [ + "Turn around, and then face to the right", + "Pick up a box of tissues off of the desk", + "Turn around and then face the shelves on the right", + "Place the box of tissues on the shelf", + "Turn to face the right", + "Pick up a box of tissues off of the desk", + "Turn to face the shelves again", + "Place the other box of tissues on the shelf" + ], + "task_desc": "Place two boxes of tissues on the shelf", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-TissueBox-None-Shelf-313/trial_T20190907_041603_169557/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-TissueBox-None-Shelf-313/trial_T20190907_041603_169557/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..0362f9342636b2245a2e1df71c33f152f98b2fc8 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-TissueBox-None-Shelf-313/trial_T20190907_041603_169557/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put two tissuebox in 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_T20190907_041603_169557)\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_25_bar__plus_00_dot_70_bar__minus_01_dot_72 - object\n AlarmClock_bar__plus_01_dot_49_bar__plus_00_dot_71_bar__minus_00_dot_70 - object\n BaseballBat_bar__minus_02_dot_20_bar__plus_00_dot_04_bar__minus_01_dot_34 - object\n Blinds_bar__plus_00_dot_01_bar__plus_02_dot_15_bar__minus_02_dot_01 - object\n Book_bar__minus_00_dot_03_bar__plus_00_dot_29_bar__minus_01_dot_43 - object\n Book_bar__minus_01_dot_34_bar__plus_00_dot_53_bar__plus_00_dot_40 - object\n Box_bar__plus_01_dot_54_bar__plus_01_dot_65_bar__plus_00_dot_69 - object\n CD_bar__plus_01_dot_49_bar__plus_00_dot_71_bar__minus_00_dot_23 - object\n CellPhone_bar__plus_00_dot_34_bar__plus_00_dot_08_bar__minus_01_dot_43 - object\n CellPhone_bar__plus_00_dot_74_bar__plus_00_dot_71_bar__minus_01_dot_52 - object\n CellPhone_bar__minus_01_dot_78_bar__plus_00_dot_53_bar__minus_00_dot_81 - object\n Chair_bar__plus_00_dot_95_bar__plus_00_dot_00_bar__minus_01_dot_23 - object\n CreditCard_bar__plus_01_dot_48_bar__plus_00_dot_70_bar__minus_01_dot_81 - object\n CreditCard_bar__minus_00_dot_03_bar__plus_00_dot_08_bar__minus_01_dot_48 - object\n HousePlant_bar__plus_01_dot_49_bar__plus_01_dot_40_bar__plus_00_dot_04 - object\n KeyChain_bar__plus_00_dot_99_bar__plus_00_dot_70_bar__minus_01_dot_81 - object\n KeyChain_bar__plus_01_dot_60_bar__plus_00_dot_71_bar__minus_00_dot_39 - object\n KeyChain_bar__plus_01_dot_60_bar__plus_00_dot_71_bar__minus_00_dot_70 - object\n Lamp_bar__plus_01_dot_30_bar__plus_00_dot_69_bar__minus_01_dot_72 - object\n Laptop_bar__plus_00_dot_04_bar__plus_00_dot_69_bar__minus_01_dot_46 - object\n LightSwitch_bar__plus_00_dot_23_bar__plus_01_dot_29_bar__plus_00_dot_96 - object\n Mirror_bar__minus_00_dot_69_bar__plus_01_dot_50_bar__plus_00_dot_96 - object\n Mug_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_33 - object\n Mug_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_62 - object\n Mug_bar__plus_01_dot_56_bar__plus_00_dot_71_bar__minus_00_dot_54 - object\n Painting_bar__minus_02_dot_40_bar__plus_01_dot_70_bar__minus_00_dot_86 - object\n Pencil_bar__plus_00_dot_49_bar__plus_00_dot_71_bar__minus_01_dot_52 - object\n Pencil_bar__plus_01_dot_23_bar__plus_00_dot_71_bar__minus_01_dot_42 - object\n Pen_bar__plus_00_dot_34_bar__plus_00_dot_09_bar__minus_01_dot_48 - object\n Pen_bar__plus_00_dot_74_bar__plus_00_dot_71_bar__minus_01_dot_33 - object\n Pen_bar__minus_00_dot_61_bar__plus_00_dot_06_bar__plus_00_dot_80 - object\n Pillow_bar__minus_01_dot_63_bar__plus_00_dot_60_bar__minus_00_dot_08 - object\n Pillow_bar__minus_01_dot_92_bar__plus_00_dot_60_bar__minus_00_dot_57 - object\n TeddyBear_bar__minus_02_dot_20_bar__plus_00_dot_50_bar__plus_00_dot_18 - object\n TennisRacket_bar__minus_02_dot_25_bar__plus_00_dot_32_bar__minus_01_dot_81 - object\n TissueBox_bar__plus_00_dot_99_bar__plus_00_dot_70_bar__minus_01_dot_52 - object\n TissueBox_bar__plus_01_dot_53_bar__plus_00_dot_70_bar__minus_01_dot_64 - object\n Window_bar__plus_00_dot_05_bar__plus_01_dot_56_bar__minus_02_dot_08 - object\n Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03 - receptacle\n Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63 - receptacle\n Drawer_bar__plus_00_dot_39_bar__plus_00_dot_13_bar__minus_01_dot_46 - receptacle\n Drawer_bar__plus_00_dot_39_bar__plus_00_dot_33_bar__minus_01_dot_46 - receptacle\n Drawer_bar__plus_00_dot_39_bar__plus_00_dot_54_bar__minus_01_dot_46 - receptacle\n Drawer_bar__minus_00_dot_03_bar__plus_00_dot_13_bar__minus_01_dot_46 - receptacle\n Drawer_bar__minus_00_dot_03_bar__plus_00_dot_33_bar__minus_01_dot_46 - receptacle\n Drawer_bar__minus_00_dot_03_bar__plus_00_dot_54_bar__minus_01_dot_46 - receptacle\n GarbageCan_bar__minus_00_dot_61_bar__plus_00_dot_00_bar__plus_00_dot_80 - receptacle\n Shelf_bar__plus_01_dot_54_bar__plus_00_dot_48_bar__minus_00_dot_47 - receptacle\n Shelf_bar__plus_01_dot_55_bar__plus_01_dot_40_bar__plus_00_dot_38 - receptacle\n SideTable_bar__plus_01_dot_56_bar__minus_00_dot_01_bar__minus_00_dot_47 - receptacle\n loc_bar_0_bar_2_bar_1_bar_15 - location\n loc_bar_0_bar__minus_4_bar_2_bar_0 - location\n loc_bar__minus_3_bar__minus_5_bar_3_bar_45 - location\n loc_bar_3_bar__minus_1_bar_1_bar_60 - location\n loc_bar__minus_2_bar__minus_2_bar_2_bar_45 - location\n loc_bar__minus_2_bar_1_bar_0_bar_60 - location\n loc_bar_4_bar__minus_1_bar_2_bar_45 - location\n loc_bar__minus_3_bar__minus_6_bar_3_bar_45 - location\n loc_bar_1_bar_2_bar_0_bar_45 - location\n loc_bar__minus_3_bar_1_bar_0_bar_15 - location\n loc_bar_0_bar__minus_4_bar_2_bar__minus_30 - location\n loc_bar__minus_3_bar__minus_3_bar_3_bar_0 - location\n loc_bar_4_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_2_bar_0_bar_3_bar_45 - location\n loc_bar__minus_2_bar__minus_2_bar_2_bar_60 - location\n loc_bar_2_bar__minus_1_bar_1_bar_60 - location\n loc_bar_0_bar__minus_2_bar_2_bar_45 - location\n loc_bar_3_bar__minus_2_bar_2_bar_60 - location\n loc_bar_2_bar__minus_1_bar_2_bar_45 - location\n loc_bar__minus_3_bar_1_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Shelf_bar__plus_01_dot_55_bar__plus_01_dot_40_bar__plus_00_dot_38 ShelfType)\n (receptacleType GarbageCan_bar__minus_00_dot_61_bar__plus_00_dot_00_bar__plus_00_dot_80 GarbageCanType)\n (receptacleType Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03 BedType)\n (receptacleType Drawer_bar__plus_00_dot_39_bar__plus_00_dot_54_bar__minus_01_dot_46 DrawerType)\n (receptacleType Shelf_bar__plus_01_dot_54_bar__plus_00_dot_48_bar__minus_00_dot_47 ShelfType)\n (receptacleType Drawer_bar__plus_00_dot_39_bar__plus_00_dot_13_bar__minus_01_dot_46 DrawerType)\n (receptacleType Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63 DeskType)\n (receptacleType Drawer_bar__minus_00_dot_03_bar__plus_00_dot_13_bar__minus_01_dot_46 DrawerType)\n (receptacleType SideTable_bar__plus_01_dot_56_bar__minus_00_dot_01_bar__minus_00_dot_47 SideTableType)\n (receptacleType Drawer_bar__minus_00_dot_03_bar__plus_00_dot_54_bar__minus_01_dot_46 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_03_bar__plus_00_dot_33_bar__minus_01_dot_46 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_39_bar__plus_00_dot_33_bar__minus_01_dot_46 DrawerType)\n (objectType BaseballBat_bar__minus_02_dot_20_bar__plus_00_dot_04_bar__minus_01_dot_34 BaseballBatType)\n (objectType HousePlant_bar__plus_01_dot_49_bar__plus_01_dot_40_bar__plus_00_dot_04 HousePlantType)\n (objectType CellPhone_bar__plus_00_dot_34_bar__plus_00_dot_08_bar__minus_01_dot_43 CellPhoneType)\n (objectType CellPhone_bar__minus_01_dot_78_bar__plus_00_dot_53_bar__minus_00_dot_81 CellPhoneType)\n (objectType TeddyBear_bar__minus_02_dot_20_bar__plus_00_dot_50_bar__plus_00_dot_18 TeddyBearType)\n (objectType CellPhone_bar__plus_00_dot_74_bar__plus_00_dot_71_bar__minus_01_dot_52 CellPhoneType)\n (objectType Chair_bar__plus_00_dot_95_bar__plus_00_dot_00_bar__minus_01_dot_23 ChairType)\n (objectType AlarmClock_bar__plus_01_dot_49_bar__plus_00_dot_71_bar__minus_00_dot_70 AlarmClockType)\n (objectType LightSwitch_bar__plus_00_dot_23_bar__plus_01_dot_29_bar__plus_00_dot_96 LightSwitchType)\n (objectType Laptop_bar__plus_00_dot_04_bar__plus_00_dot_69_bar__minus_01_dot_46 LaptopType)\n (objectType Pillow_bar__minus_01_dot_92_bar__plus_00_dot_60_bar__minus_00_dot_57 PillowType)\n (objectType Mirror_bar__minus_00_dot_69_bar__plus_01_dot_50_bar__plus_00_dot_96 MirrorType)\n (objectType Mug_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_62 MugType)\n (objectType CreditCard_bar__minus_00_dot_03_bar__plus_00_dot_08_bar__minus_01_dot_48 CreditCardType)\n (objectType Painting_bar__minus_02_dot_40_bar__plus_01_dot_70_bar__minus_00_dot_86 PaintingType)\n (objectType Pencil_bar__plus_01_dot_23_bar__plus_00_dot_71_bar__minus_01_dot_42 PencilType)\n (objectType Pencil_bar__plus_00_dot_49_bar__plus_00_dot_71_bar__minus_01_dot_52 PencilType)\n (objectType TissueBox_bar__plus_00_dot_99_bar__plus_00_dot_70_bar__minus_01_dot_52 TissueBoxType)\n (objectType CreditCard_bar__plus_01_dot_48_bar__plus_00_dot_70_bar__minus_01_dot_81 CreditCardType)\n (objectType KeyChain_bar__plus_01_dot_60_bar__plus_00_dot_71_bar__minus_00_dot_39 KeyChainType)\n (objectType Pen_bar__plus_00_dot_74_bar__plus_00_dot_71_bar__minus_01_dot_33 PenType)\n (objectType Box_bar__plus_01_dot_54_bar__plus_01_dot_65_bar__plus_00_dot_69 BoxType)\n (objectType Book_bar__minus_01_dot_34_bar__plus_00_dot_53_bar__plus_00_dot_40 BookType)\n (objectType Mug_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_33 MugType)\n (objectType Pen_bar__minus_00_dot_61_bar__plus_00_dot_06_bar__plus_00_dot_80 PenType)\n (objectType Mug_bar__plus_01_dot_56_bar__plus_00_dot_71_bar__minus_00_dot_54 MugType)\n (objectType Blinds_bar__plus_00_dot_01_bar__plus_02_dot_15_bar__minus_02_dot_01 BlindsType)\n (objectType TissueBox_bar__plus_01_dot_53_bar__plus_00_dot_70_bar__minus_01_dot_64 TissueBoxType)\n (objectType AlarmClock_bar__plus_00_dot_25_bar__plus_00_dot_70_bar__minus_01_dot_72 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KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType AlarmClockType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType PencilType)\n (canContain GarbageCanType TissueBoxType)\n (canContain BedType BaseballBatType)\n (canContain BedType TennisRacketType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType 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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 TissueBoxType)\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 TennisRacketType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType TissueBoxType)\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 TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (pickupable BaseballBat_bar__minus_02_dot_20_bar__plus_00_dot_04_bar__minus_01_dot_34)\n (pickupable CellPhone_bar__plus_00_dot_34_bar__plus_00_dot_08_bar__minus_01_dot_43)\n (pickupable 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TennisRacket_bar__minus_02_dot_25_bar__plus_00_dot_32_bar__minus_01_dot_81)\n (pickupable Pen_bar__plus_00_dot_34_bar__plus_00_dot_09_bar__minus_01_dot_48)\n (pickupable KeyChain_bar__plus_00_dot_99_bar__plus_00_dot_70_bar__minus_01_dot_81)\n (pickupable Book_bar__minus_00_dot_03_bar__plus_00_dot_29_bar__minus_01_dot_43)\n (pickupable CD_bar__plus_01_dot_49_bar__plus_00_dot_71_bar__minus_00_dot_23)\n (isReceptacleObject Mug_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_62)\n (isReceptacleObject Box_bar__plus_01_dot_54_bar__plus_01_dot_65_bar__plus_00_dot_69)\n (isReceptacleObject Mug_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_33)\n (isReceptacleObject Mug_bar__plus_01_dot_56_bar__plus_00_dot_71_bar__minus_00_dot_54)\n (openable Drawer_bar__plus_00_dot_39_bar__plus_00_dot_54_bar__minus_01_dot_46)\n (openable Drawer_bar__plus_00_dot_39_bar__plus_00_dot_13_bar__minus_01_dot_46)\n (openable Drawer_bar__minus_00_dot_03_bar__plus_00_dot_13_bar__minus_01_dot_46)\n (openable Drawer_bar__minus_00_dot_03_bar__plus_00_dot_54_bar__minus_01_dot_46)\n (openable Drawer_bar__minus_00_dot_03_bar__plus_00_dot_33_bar__minus_01_dot_46)\n (openable Drawer_bar__plus_00_dot_39_bar__plus_00_dot_33_bar__minus_01_dot_46)\n \n (atLocation agent1 loc_bar__minus_3_bar_1_bar_3_bar_30)\n \n (cleanable Mug_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_62)\n (cleanable Mug_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_33)\n (cleanable Mug_bar__plus_01_dot_56_bar__plus_00_dot_71_bar__minus_00_dot_54)\n \n (heatable Mug_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_62)\n (heatable Mug_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_33)\n (heatable Mug_bar__plus_01_dot_56_bar__plus_00_dot_71_bar__minus_00_dot_54)\n (coolable Mug_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_62)\n (coolable Mug_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_33)\n (coolable Mug_bar__plus_01_dot_56_bar__plus_00_dot_71_bar__minus_00_dot_54)\n \n \n \n \n \n \n \n (inReceptacle TissueBox_bar__plus_01_dot_53_bar__plus_00_dot_70_bar__minus_01_dot_64 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63)\n (inReceptacle CellPhone_bar__plus_00_dot_74_bar__plus_00_dot_71_bar__minus_01_dot_52 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63)\n (inReceptacle AlarmClock_bar__plus_00_dot_25_bar__plus_00_dot_70_bar__minus_01_dot_72 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63)\n (inReceptacle Laptop_bar__plus_00_dot_04_bar__plus_00_dot_69_bar__minus_01_dot_46 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63)\n (inReceptacle Pencil_bar__plus_01_dot_23_bar__plus_00_dot_71_bar__minus_01_dot_42 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63)\n (inReceptacle Pen_bar__plus_00_dot_74_bar__plus_00_dot_71_bar__minus_01_dot_33 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63)\n (inReceptacle TissueBox_bar__plus_00_dot_99_bar__plus_00_dot_70_bar__minus_01_dot_52 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63)\n (inReceptacle Mug_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_62 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63)\n (inReceptacle Mug_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_33 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63)\n (inReceptacle KeyChain_bar__plus_00_dot_99_bar__plus_00_dot_70_bar__minus_01_dot_81 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63)\n (inReceptacle Pencil_bar__plus_00_dot_49_bar__plus_00_dot_71_bar__minus_01_dot_52 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63)\n (inReceptacle CreditCard_bar__plus_01_dot_48_bar__plus_00_dot_70_bar__minus_01_dot_81 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63)\n (inReceptacle Book_bar__minus_00_dot_03_bar__plus_00_dot_29_bar__minus_01_dot_43 Drawer_bar__minus_00_dot_03_bar__plus_00_dot_33_bar__minus_01_dot_46)\n (inReceptacle Pen_bar__plus_00_dot_34_bar__plus_00_dot_09_bar__minus_01_dot_48 Drawer_bar__plus_00_dot_39_bar__plus_00_dot_13_bar__minus_01_dot_46)\n (inReceptacle CellPhone_bar__plus_00_dot_34_bar__plus_00_dot_08_bar__minus_01_dot_43 Drawer_bar__plus_00_dot_39_bar__plus_00_dot_13_bar__minus_01_dot_46)\n (inReceptacle AlarmClock_bar__plus_01_dot_49_bar__plus_00_dot_71_bar__minus_00_dot_70 SideTable_bar__plus_01_dot_56_bar__minus_00_dot_01_bar__minus_00_dot_47)\n (inReceptacle KeyChain_bar__plus_01_dot_60_bar__plus_00_dot_71_bar__minus_00_dot_39 SideTable_bar__plus_01_dot_56_bar__minus_00_dot_01_bar__minus_00_dot_47)\n (inReceptacle KeyChain_bar__plus_01_dot_60_bar__plus_00_dot_71_bar__minus_00_dot_70 SideTable_bar__plus_01_dot_56_bar__minus_00_dot_01_bar__minus_00_dot_47)\n (inReceptacle Mug_bar__plus_01_dot_56_bar__plus_00_dot_71_bar__minus_00_dot_54 SideTable_bar__plus_01_dot_56_bar__minus_00_dot_01_bar__minus_00_dot_47)\n (inReceptacle CD_bar__plus_01_dot_49_bar__plus_00_dot_71_bar__minus_00_dot_23 SideTable_bar__plus_01_dot_56_bar__minus_00_dot_01_bar__minus_00_dot_47)\n (inReceptacle TeddyBear_bar__minus_02_dot_20_bar__plus_00_dot_50_bar__plus_00_dot_18 Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03)\n (inReceptacle Pillow_bar__minus_01_dot_63_bar__plus_00_dot_60_bar__minus_00_dot_08 Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03)\n (inReceptacle Pillow_bar__minus_01_dot_92_bar__plus_00_dot_60_bar__minus_00_dot_57 Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03)\n (inReceptacle Book_bar__minus_01_dot_34_bar__plus_00_dot_53_bar__plus_00_dot_40 Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03)\n (inReceptacle CellPhone_bar__minus_01_dot_78_bar__plus_00_dot_53_bar__minus_00_dot_81 Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03)\n (inReceptacle CreditCard_bar__minus_00_dot_03_bar__plus_00_dot_08_bar__minus_01_dot_48 Drawer_bar__minus_00_dot_03_bar__plus_00_dot_13_bar__minus_01_dot_46)\n (inReceptacle Pen_bar__minus_00_dot_61_bar__plus_00_dot_06_bar__plus_00_dot_80 GarbageCan_bar__minus_00_dot_61_bar__plus_00_dot_00_bar__plus_00_dot_80)\n (inReceptacle Box_bar__plus_01_dot_54_bar__plus_01_dot_65_bar__plus_00_dot_69 Shelf_bar__plus_01_dot_55_bar__plus_01_dot_40_bar__plus_00_dot_38)\n (inReceptacle HousePlant_bar__plus_01_dot_49_bar__plus_01_dot_40_bar__plus_00_dot_04 Shelf_bar__plus_01_dot_55_bar__plus_01_dot_40_bar__plus_00_dot_38)\n \n \n (receptacleAtLocation Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (receptacleAtLocation Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_39_bar__plus_00_dot_13_bar__minus_01_dot_46 loc_bar_4_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_39_bar__plus_00_dot_33_bar__minus_01_dot_46 loc_bar_3_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_39_bar__plus_00_dot_54_bar__minus_01_dot_46 loc_bar_0_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_03_bar__plus_00_dot_13_bar__minus_01_dot_46 loc_bar_2_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_03_bar__plus_00_dot_33_bar__minus_01_dot_46 loc_bar__minus_2_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_03_bar__plus_00_dot_54_bar__minus_01_dot_46 loc_bar__minus_2_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_61_bar__plus_00_dot_00_bar__plus_00_dot_80 loc_bar__minus_2_bar_1_bar_0_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_54_bar__plus_00_dot_48_bar__minus_00_dot_47 loc_bar_3_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_55_bar__plus_01_dot_40_bar__plus_00_dot_38 loc_bar_0_bar_2_bar_1_bar_15)\n (receptacleAtLocation SideTable_bar__plus_01_dot_56_bar__minus_00_dot_01_bar__minus_00_dot_47 loc_bar_2_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Mug_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_33 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Pencil_bar__plus_00_dot_49_bar__plus_00_dot_71_bar__minus_01_dot_52 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Pen_bar__plus_00_dot_34_bar__plus_00_dot_09_bar__minus_01_dot_48 loc_bar_4_bar__minus_1_bar_2_bar_45)\n (objectAtLocation Pillow_bar__minus_01_dot_92_bar__plus_00_dot_60_bar__minus_00_dot_57 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation KeyChain_bar__plus_01_dot_60_bar__plus_00_dot_71_bar__minus_00_dot_70 loc_bar_2_bar__minus_1_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__minus_00_dot_03_bar__plus_00_dot_08_bar__minus_01_dot_48 loc_bar_2_bar__minus_1_bar_2_bar_45)\n (objectAtLocation TissueBox_bar__plus_01_dot_53_bar__plus_00_dot_70_bar__minus_01_dot_64 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__plus_00_dot_74_bar__plus_00_dot_71_bar__minus_01_dot_52 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation AlarmClock_bar__plus_00_dot_25_bar__plus_00_dot_70_bar__minus_01_dot_72 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_03_bar__plus_00_dot_29_bar__minus_01_dot_43 loc_bar__minus_2_bar__minus_2_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__plus_00_dot_99_bar__plus_00_dot_70_bar__minus_01_dot_81 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Pen_bar__plus_00_dot_74_bar__plus_00_dot_71_bar__minus_01_dot_33 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__plus_00_dot_34_bar__plus_00_dot_08_bar__minus_01_dot_43 loc_bar_4_bar__minus_1_bar_2_bar_45)\n (objectAtLocation Mug_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_62 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Box_bar__plus_01_dot_54_bar__plus_01_dot_65_bar__plus_00_dot_69 loc_bar_0_bar_2_bar_1_bar_15)\n (objectAtLocation Chair_bar__plus_00_dot_95_bar__plus_00_dot_00_bar__minus_01_dot_23 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Mirror_bar__minus_00_dot_69_bar__plus_01_dot_50_bar__plus_00_dot_96 loc_bar__minus_3_bar_1_bar_0_bar_15)\n (objectAtLocation Book_bar__minus_01_dot_34_bar__plus_00_dot_53_bar__plus_00_dot_40 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation AlarmClock_bar__plus_01_dot_49_bar__plus_00_dot_71_bar__minus_00_dot_70 loc_bar_2_bar__minus_1_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__minus_01_dot_78_bar__plus_00_dot_53_bar__minus_00_dot_81 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation TissueBox_bar__plus_00_dot_99_bar__plus_00_dot_70_bar__minus_01_dot_52 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation TeddyBear_bar__minus_02_dot_20_bar__plus_00_dot_50_bar__plus_00_dot_18 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation CreditCard_bar__plus_01_dot_48_bar__plus_00_dot_70_bar__minus_01_dot_81 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__plus_01_dot_60_bar__plus_00_dot_71_bar__minus_00_dot_39 loc_bar_2_bar__minus_1_bar_1_bar_60)\n (objectAtLocation BaseballBat_bar__minus_02_dot_20_bar__plus_00_dot_04_bar__minus_01_dot_34 loc_bar__minus_3_bar__minus_5_bar_3_bar_45)\n (objectAtLocation TennisRacket_bar__minus_02_dot_25_bar__plus_00_dot_32_bar__minus_01_dot_81 loc_bar__minus_3_bar__minus_6_bar_3_bar_45)\n (objectAtLocation Painting_bar__minus_02_dot_40_bar__plus_01_dot_70_bar__minus_00_dot_86 loc_bar__minus_3_bar__minus_3_bar_3_bar_0)\n (objectAtLocation Pillow_bar__minus_01_dot_63_bar__plus_00_dot_60_bar__minus_00_dot_08 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation LightSwitch_bar__plus_00_dot_23_bar__plus_01_dot_29_bar__plus_00_dot_96 loc_bar_1_bar_2_bar_0_bar_45)\n (objectAtLocation Laptop_bar__plus_00_dot_04_bar__plus_00_dot_69_bar__minus_01_dot_46 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation CD_bar__plus_01_dot_49_bar__plus_00_dot_71_bar__minus_00_dot_23 loc_bar_2_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Pen_bar__minus_00_dot_61_bar__plus_00_dot_06_bar__plus_00_dot_80 loc_bar__minus_2_bar_1_bar_0_bar_60)\n (objectAtLocation HousePlant_bar__plus_01_dot_49_bar__plus_01_dot_40_bar__plus_00_dot_04 loc_bar_0_bar_2_bar_1_bar_15)\n (objectAtLocation Window_bar__plus_00_dot_05_bar__plus_01_dot_56_bar__minus_02_dot_08 loc_bar_0_bar__minus_4_bar_2_bar_0)\n (objectAtLocation Pencil_bar__plus_01_dot_23_bar__plus_00_dot_71_bar__minus_01_dot_42 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Mug_bar__plus_01_dot_56_bar__plus_00_dot_71_bar__minus_00_dot_54 loc_bar_2_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Blinds_bar__plus_00_dot_01_bar__plus_02_dot_15_bar__minus_02_dot_01 loc_bar_0_bar__minus_4_bar_2_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 TissueBoxType)\n (receptacleType ?r ShelfType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 TissueBoxType)\n (receptacleType ?r ShelfType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to desk 1", "take tissuebox 2 from desk 1", "go to shelf 1", "move tissuebox 2 to shelf 1", "go to desk 1", "take tissuebox 1 from desk 1", "go to shelf 1", "move tissuebox 1 to shelf 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-TissueBox-None-Shelf-313/trial_T20190907_041603_169557/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-TissueBox-None-Shelf-313/trial_T20190907_041603_169557/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..722c90f49628e1020ae4a68385dbd2ace41ab04f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-TissueBox-None-Shelf-313/trial_T20190907_041603_169557/initial_state.pddl @@ -0,0 +1,593 @@ + +(define (problem plan_trial_T20190907_041603_169557) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_25_bar__plus_00_dot_70_bar__minus_01_dot_72 - object + AlarmClock_bar__plus_01_dot_49_bar__plus_00_dot_71_bar__minus_00_dot_70 - object + BaseballBat_bar__minus_02_dot_20_bar__plus_00_dot_04_bar__minus_01_dot_34 - object + Blinds_bar__plus_00_dot_01_bar__plus_02_dot_15_bar__minus_02_dot_01 - object + Book_bar__minus_00_dot_03_bar__plus_00_dot_29_bar__minus_01_dot_43 - object + Book_bar__minus_01_dot_34_bar__plus_00_dot_53_bar__plus_00_dot_40 - object + Box_bar__plus_01_dot_54_bar__plus_01_dot_65_bar__plus_00_dot_69 - object + CD_bar__plus_01_dot_49_bar__plus_00_dot_71_bar__minus_00_dot_23 - object + CellPhone_bar__plus_00_dot_34_bar__plus_00_dot_08_bar__minus_01_dot_43 - object + CellPhone_bar__plus_00_dot_74_bar__plus_00_dot_71_bar__minus_01_dot_52 - object + CellPhone_bar__minus_01_dot_78_bar__plus_00_dot_53_bar__minus_00_dot_81 - object + Chair_bar__plus_00_dot_95_bar__plus_00_dot_00_bar__minus_01_dot_23 - object + CreditCard_bar__plus_01_dot_48_bar__plus_00_dot_70_bar__minus_01_dot_81 - object + CreditCard_bar__minus_00_dot_03_bar__plus_00_dot_08_bar__minus_01_dot_48 - object + HousePlant_bar__plus_01_dot_49_bar__plus_01_dot_40_bar__plus_00_dot_04 - object + KeyChain_bar__plus_00_dot_99_bar__plus_00_dot_70_bar__minus_01_dot_81 - object + KeyChain_bar__plus_01_dot_60_bar__plus_00_dot_71_bar__minus_00_dot_39 - object + KeyChain_bar__plus_01_dot_60_bar__plus_00_dot_71_bar__minus_00_dot_70 - object + Lamp_bar__plus_01_dot_30_bar__plus_00_dot_69_bar__minus_01_dot_72 - object + Laptop_bar__plus_00_dot_04_bar__plus_00_dot_69_bar__minus_01_dot_46 - object + LightSwitch_bar__plus_00_dot_23_bar__plus_01_dot_29_bar__plus_00_dot_96 - object + Mirror_bar__minus_00_dot_69_bar__plus_01_dot_50_bar__plus_00_dot_96 - object + Mug_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_33 - object + Mug_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_62 - object + Mug_bar__plus_01_dot_56_bar__plus_00_dot_71_bar__minus_00_dot_54 - object + Painting_bar__minus_02_dot_40_bar__plus_01_dot_70_bar__minus_00_dot_86 - object + Pencil_bar__plus_00_dot_49_bar__plus_00_dot_71_bar__minus_01_dot_52 - object + Pencil_bar__plus_01_dot_23_bar__plus_00_dot_71_bar__minus_01_dot_42 - object + Pen_bar__plus_00_dot_34_bar__plus_00_dot_09_bar__minus_01_dot_48 - object + Pen_bar__plus_00_dot_74_bar__plus_00_dot_71_bar__minus_01_dot_33 - object + Pen_bar__minus_00_dot_61_bar__plus_00_dot_06_bar__plus_00_dot_80 - object + Pillow_bar__minus_01_dot_63_bar__plus_00_dot_60_bar__minus_00_dot_08 - object + Pillow_bar__minus_01_dot_92_bar__plus_00_dot_60_bar__minus_00_dot_57 - object + TeddyBear_bar__minus_02_dot_20_bar__plus_00_dot_50_bar__plus_00_dot_18 - object + TennisRacket_bar__minus_02_dot_25_bar__plus_00_dot_32_bar__minus_01_dot_81 - object + TissueBox_bar__plus_00_dot_99_bar__plus_00_dot_70_bar__minus_01_dot_52 - object + TissueBox_bar__plus_01_dot_53_bar__plus_00_dot_70_bar__minus_01_dot_64 - object + Window_bar__plus_00_dot_05_bar__plus_01_dot_56_bar__minus_02_dot_08 - object + Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03 - receptacle + Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63 - receptacle + Drawer_bar__plus_00_dot_39_bar__plus_00_dot_13_bar__minus_01_dot_46 - receptacle + Drawer_bar__plus_00_dot_39_bar__plus_00_dot_33_bar__minus_01_dot_46 - receptacle + Drawer_bar__plus_00_dot_39_bar__plus_00_dot_54_bar__minus_01_dot_46 - receptacle + Drawer_bar__minus_00_dot_03_bar__plus_00_dot_13_bar__minus_01_dot_46 - receptacle + Drawer_bar__minus_00_dot_03_bar__plus_00_dot_33_bar__minus_01_dot_46 - receptacle + Drawer_bar__minus_00_dot_03_bar__plus_00_dot_54_bar__minus_01_dot_46 - receptacle + GarbageCan_bar__minus_00_dot_61_bar__plus_00_dot_00_bar__plus_00_dot_80 - receptacle + Shelf_bar__plus_01_dot_54_bar__plus_00_dot_48_bar__minus_00_dot_47 - receptacle + Shelf_bar__plus_01_dot_55_bar__plus_01_dot_40_bar__plus_00_dot_38 - receptacle + SideTable_bar__plus_01_dot_56_bar__minus_00_dot_01_bar__minus_00_dot_47 - receptacle + loc_bar_0_bar_2_bar_1_bar_15 - location + loc_bar_0_bar__minus_4_bar_2_bar_0 - location + loc_bar__minus_3_bar__minus_5_bar_3_bar_45 - location + loc_bar_3_bar__minus_1_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_2_bar_2_bar_45 - location + loc_bar__minus_2_bar_1_bar_0_bar_60 - location + loc_bar_4_bar__minus_1_bar_2_bar_45 - location + loc_bar__minus_3_bar__minus_6_bar_3_bar_45 - location + loc_bar_1_bar_2_bar_0_bar_45 - location + loc_bar__minus_3_bar_1_bar_0_bar_15 - location + loc_bar_0_bar__minus_4_bar_2_bar__minus_30 - location + loc_bar__minus_3_bar__minus_3_bar_3_bar_0 - location + loc_bar_4_bar__minus_2_bar_2_bar_60 - location + loc_bar__minus_2_bar_0_bar_3_bar_45 - location + loc_bar__minus_2_bar__minus_2_bar_2_bar_60 - location + loc_bar_2_bar__minus_1_bar_1_bar_60 - location + loc_bar_0_bar__minus_2_bar_2_bar_45 - location + loc_bar_3_bar__minus_2_bar_2_bar_60 - location + loc_bar_2_bar__minus_1_bar_2_bar_45 - location + loc_bar__minus_3_bar_1_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Shelf_bar__plus_01_dot_55_bar__plus_01_dot_40_bar__plus_00_dot_38 ShelfType) + (receptacleType GarbageCan_bar__minus_00_dot_61_bar__plus_00_dot_00_bar__plus_00_dot_80 GarbageCanType) + (receptacleType Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03 BedType) + (receptacleType Drawer_bar__plus_00_dot_39_bar__plus_00_dot_54_bar__minus_01_dot_46 DrawerType) + (receptacleType Shelf_bar__plus_01_dot_54_bar__plus_00_dot_48_bar__minus_00_dot_47 ShelfType) + (receptacleType Drawer_bar__plus_00_dot_39_bar__plus_00_dot_13_bar__minus_01_dot_46 DrawerType) + (receptacleType Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63 DeskType) + (receptacleType Drawer_bar__minus_00_dot_03_bar__plus_00_dot_13_bar__minus_01_dot_46 DrawerType) + (receptacleType SideTable_bar__plus_01_dot_56_bar__minus_00_dot_01_bar__minus_00_dot_47 SideTableType) + (receptacleType Drawer_bar__minus_00_dot_03_bar__plus_00_dot_54_bar__minus_01_dot_46 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_03_bar__plus_00_dot_33_bar__minus_01_dot_46 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_39_bar__plus_00_dot_33_bar__minus_01_dot_46 DrawerType) + (objectType BaseballBat_bar__minus_02_dot_20_bar__plus_00_dot_04_bar__minus_01_dot_34 BaseballBatType) + (objectType HousePlant_bar__plus_01_dot_49_bar__plus_01_dot_40_bar__plus_00_dot_04 HousePlantType) + (objectType CellPhone_bar__plus_00_dot_34_bar__plus_00_dot_08_bar__minus_01_dot_43 CellPhoneType) + (objectType CellPhone_bar__minus_01_dot_78_bar__plus_00_dot_53_bar__minus_00_dot_81 CellPhoneType) + (objectType TeddyBear_bar__minus_02_dot_20_bar__plus_00_dot_50_bar__plus_00_dot_18 TeddyBearType) + (objectType CellPhone_bar__plus_00_dot_74_bar__plus_00_dot_71_bar__minus_01_dot_52 CellPhoneType) + (objectType Chair_bar__plus_00_dot_95_bar__plus_00_dot_00_bar__minus_01_dot_23 ChairType) + (objectType AlarmClock_bar__plus_01_dot_49_bar__plus_00_dot_71_bar__minus_00_dot_70 AlarmClockType) + (objectType LightSwitch_bar__plus_00_dot_23_bar__plus_01_dot_29_bar__plus_00_dot_96 LightSwitchType) + (objectType Laptop_bar__plus_00_dot_04_bar__plus_00_dot_69_bar__minus_01_dot_46 LaptopType) + (objectType Pillow_bar__minus_01_dot_92_bar__plus_00_dot_60_bar__minus_00_dot_57 PillowType) + (objectType Mirror_bar__minus_00_dot_69_bar__plus_01_dot_50_bar__plus_00_dot_96 MirrorType) + (objectType Mug_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_62 MugType) + (objectType CreditCard_bar__minus_00_dot_03_bar__plus_00_dot_08_bar__minus_01_dot_48 CreditCardType) + (objectType Painting_bar__minus_02_dot_40_bar__plus_01_dot_70_bar__minus_00_dot_86 PaintingType) + (objectType Pencil_bar__plus_01_dot_23_bar__plus_00_dot_71_bar__minus_01_dot_42 PencilType) + (objectType Pencil_bar__plus_00_dot_49_bar__plus_00_dot_71_bar__minus_01_dot_52 PencilType) + (objectType TissueBox_bar__plus_00_dot_99_bar__plus_00_dot_70_bar__minus_01_dot_52 TissueBoxType) + (objectType CreditCard_bar__plus_01_dot_48_bar__plus_00_dot_70_bar__minus_01_dot_81 CreditCardType) + (objectType KeyChain_bar__plus_01_dot_60_bar__plus_00_dot_71_bar__minus_00_dot_39 KeyChainType) + (objectType Pen_bar__plus_00_dot_74_bar__plus_00_dot_71_bar__minus_01_dot_33 PenType) + (objectType Box_bar__plus_01_dot_54_bar__plus_01_dot_65_bar__plus_00_dot_69 BoxType) + (objectType Book_bar__minus_01_dot_34_bar__plus_00_dot_53_bar__plus_00_dot_40 BookType) + (objectType Mug_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_33 MugType) + (objectType Pen_bar__minus_00_dot_61_bar__plus_00_dot_06_bar__plus_00_dot_80 PenType) + (objectType Mug_bar__plus_01_dot_56_bar__plus_00_dot_71_bar__minus_00_dot_54 MugType) + (objectType Blinds_bar__plus_00_dot_01_bar__plus_02_dot_15_bar__minus_02_dot_01 BlindsType) + (objectType TissueBox_bar__plus_01_dot_53_bar__plus_00_dot_70_bar__minus_01_dot_64 TissueBoxType) + (objectType AlarmClock_bar__plus_00_dot_25_bar__plus_00_dot_70_bar__minus_01_dot_72 AlarmClockType) + (objectType Pillow_bar__minus_01_dot_63_bar__plus_00_dot_60_bar__minus_00_dot_08 PillowType) + (objectType KeyChain_bar__plus_01_dot_60_bar__plus_00_dot_71_bar__minus_00_dot_70 KeyChainType) + (objectType TennisRacket_bar__minus_02_dot_25_bar__plus_00_dot_32_bar__minus_01_dot_81 TennisRacketType) + (objectType Window_bar__plus_00_dot_05_bar__plus_01_dot_56_bar__minus_02_dot_08 WindowType) + (objectType Pen_bar__plus_00_dot_34_bar__plus_00_dot_09_bar__minus_01_dot_48 PenType) + (objectType KeyChain_bar__plus_00_dot_99_bar__plus_00_dot_70_bar__minus_01_dot_81 KeyChainType) + (objectType Book_bar__minus_00_dot_03_bar__plus_00_dot_29_bar__minus_01_dot_43 BookType) + (objectType CD_bar__plus_01_dot_49_bar__plus_00_dot_71_bar__minus_00_dot_23 CDType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType CDType) + (canContain ShelfType MugType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType AlarmClockType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType PencilType) + (canContain GarbageCanType TissueBoxType) + (canContain BedType BaseballBatType) + (canContain BedType TennisRacketType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType TissueBoxType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType CDType) + (canContain ShelfType MugType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType TissueBoxType) + (canContain DeskType PenType) + (canContain DeskType BookType) + (canContain DeskType CDType) + (canContain DeskType MugType) + (canContain DeskType BoxType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType TennisRacketType) + (canContain DeskType LaptopType) + (canContain DeskType PencilType) + (canContain DeskType TissueBoxType) + (canContain DeskType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType TissueBoxType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType CDType) + (canContain SideTableType MugType) + (canContain SideTableType BoxType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType BaseballBatType) + (canContain SideTableType TennisRacketType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType TissueBoxType) + (canContain SideTableType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType TissueBoxType) + (pickupable BaseballBat_bar__minus_02_dot_20_bar__plus_00_dot_04_bar__minus_01_dot_34) + (pickupable CellPhone_bar__plus_00_dot_34_bar__plus_00_dot_08_bar__minus_01_dot_43) + (pickupable CellPhone_bar__minus_01_dot_78_bar__plus_00_dot_53_bar__minus_00_dot_81) + (pickupable TeddyBear_bar__minus_02_dot_20_bar__plus_00_dot_50_bar__plus_00_dot_18) + (pickupable CellPhone_bar__plus_00_dot_74_bar__plus_00_dot_71_bar__minus_01_dot_52) + (pickupable AlarmClock_bar__plus_01_dot_49_bar__plus_00_dot_71_bar__minus_00_dot_70) + (pickupable Laptop_bar__plus_00_dot_04_bar__plus_00_dot_69_bar__minus_01_dot_46) + (pickupable Pillow_bar__minus_01_dot_92_bar__plus_00_dot_60_bar__minus_00_dot_57) + (pickupable Mug_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_62) + (pickupable CreditCard_bar__minus_00_dot_03_bar__plus_00_dot_08_bar__minus_01_dot_48) + (pickupable Pencil_bar__plus_01_dot_23_bar__plus_00_dot_71_bar__minus_01_dot_42) + (pickupable Pencil_bar__plus_00_dot_49_bar__plus_00_dot_71_bar__minus_01_dot_52) + (pickupable TissueBox_bar__plus_00_dot_99_bar__plus_00_dot_70_bar__minus_01_dot_52) + (pickupable CreditCard_bar__plus_01_dot_48_bar__plus_00_dot_70_bar__minus_01_dot_81) + (pickupable KeyChain_bar__plus_01_dot_60_bar__plus_00_dot_71_bar__minus_00_dot_39) + (pickupable Pen_bar__plus_00_dot_74_bar__plus_00_dot_71_bar__minus_01_dot_33) + (pickupable Box_bar__plus_01_dot_54_bar__plus_01_dot_65_bar__plus_00_dot_69) + (pickupable Book_bar__minus_01_dot_34_bar__plus_00_dot_53_bar__plus_00_dot_40) + (pickupable 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Mug_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_33) + (cleanable Mug_bar__plus_01_dot_56_bar__plus_00_dot_71_bar__minus_00_dot_54) + + (heatable Mug_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_62) + (heatable Mug_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_33) + (heatable Mug_bar__plus_01_dot_56_bar__plus_00_dot_71_bar__minus_00_dot_54) + (coolable Mug_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_62) + (coolable Mug_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_33) + (coolable Mug_bar__plus_01_dot_56_bar__plus_00_dot_71_bar__minus_00_dot_54) + + + + + + + + (inReceptacle TissueBox_bar__plus_01_dot_53_bar__plus_00_dot_70_bar__minus_01_dot_64 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63) + (inReceptacle CellPhone_bar__plus_00_dot_74_bar__plus_00_dot_71_bar__minus_01_dot_52 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63) + (inReceptacle AlarmClock_bar__plus_00_dot_25_bar__plus_00_dot_70_bar__minus_01_dot_72 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63) + (inReceptacle Laptop_bar__plus_00_dot_04_bar__plus_00_dot_69_bar__minus_01_dot_46 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63) + (inReceptacle Pencil_bar__plus_01_dot_23_bar__plus_00_dot_71_bar__minus_01_dot_42 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63) + (inReceptacle Pen_bar__plus_00_dot_74_bar__plus_00_dot_71_bar__minus_01_dot_33 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63) + (inReceptacle TissueBox_bar__plus_00_dot_99_bar__plus_00_dot_70_bar__minus_01_dot_52 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63) + (inReceptacle Mug_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_62 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63) + (inReceptacle Mug_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_33 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63) + (inReceptacle KeyChain_bar__plus_00_dot_99_bar__plus_00_dot_70_bar__minus_01_dot_81 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63) + (inReceptacle Pencil_bar__plus_00_dot_49_bar__plus_00_dot_71_bar__minus_01_dot_52 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63) + (inReceptacle CreditCard_bar__plus_01_dot_48_bar__plus_00_dot_70_bar__minus_01_dot_81 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63) + (inReceptacle Book_bar__minus_00_dot_03_bar__plus_00_dot_29_bar__minus_01_dot_43 Drawer_bar__minus_00_dot_03_bar__plus_00_dot_33_bar__minus_01_dot_46) + (inReceptacle Pen_bar__plus_00_dot_34_bar__plus_00_dot_09_bar__minus_01_dot_48 Drawer_bar__plus_00_dot_39_bar__plus_00_dot_13_bar__minus_01_dot_46) + (inReceptacle CellPhone_bar__plus_00_dot_34_bar__plus_00_dot_08_bar__minus_01_dot_43 Drawer_bar__plus_00_dot_39_bar__plus_00_dot_13_bar__minus_01_dot_46) + (inReceptacle AlarmClock_bar__plus_01_dot_49_bar__plus_00_dot_71_bar__minus_00_dot_70 SideTable_bar__plus_01_dot_56_bar__minus_00_dot_01_bar__minus_00_dot_47) + (inReceptacle KeyChain_bar__plus_01_dot_60_bar__plus_00_dot_71_bar__minus_00_dot_39 SideTable_bar__plus_01_dot_56_bar__minus_00_dot_01_bar__minus_00_dot_47) + (inReceptacle KeyChain_bar__plus_01_dot_60_bar__plus_00_dot_71_bar__minus_00_dot_70 SideTable_bar__plus_01_dot_56_bar__minus_00_dot_01_bar__minus_00_dot_47) + (inReceptacle Mug_bar__plus_01_dot_56_bar__plus_00_dot_71_bar__minus_00_dot_54 SideTable_bar__plus_01_dot_56_bar__minus_00_dot_01_bar__minus_00_dot_47) + (inReceptacle CD_bar__plus_01_dot_49_bar__plus_00_dot_71_bar__minus_00_dot_23 SideTable_bar__plus_01_dot_56_bar__minus_00_dot_01_bar__minus_00_dot_47) + (inReceptacle TeddyBear_bar__minus_02_dot_20_bar__plus_00_dot_50_bar__plus_00_dot_18 Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03) + (inReceptacle Pillow_bar__minus_01_dot_63_bar__plus_00_dot_60_bar__minus_00_dot_08 Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03) + (inReceptacle Pillow_bar__minus_01_dot_92_bar__plus_00_dot_60_bar__minus_00_dot_57 Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03) + (inReceptacle Book_bar__minus_01_dot_34_bar__plus_00_dot_53_bar__plus_00_dot_40 Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03) + (inReceptacle CellPhone_bar__minus_01_dot_78_bar__plus_00_dot_53_bar__minus_00_dot_81 Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03) + (inReceptacle CreditCard_bar__minus_00_dot_03_bar__plus_00_dot_08_bar__minus_01_dot_48 Drawer_bar__minus_00_dot_03_bar__plus_00_dot_13_bar__minus_01_dot_46) + (inReceptacle Pen_bar__minus_00_dot_61_bar__plus_00_dot_06_bar__plus_00_dot_80 GarbageCan_bar__minus_00_dot_61_bar__plus_00_dot_00_bar__plus_00_dot_80) + (inReceptacle Box_bar__plus_01_dot_54_bar__plus_01_dot_65_bar__plus_00_dot_69 Shelf_bar__plus_01_dot_55_bar__plus_01_dot_40_bar__plus_00_dot_38) + (inReceptacle HousePlant_bar__plus_01_dot_49_bar__plus_01_dot_40_bar__plus_00_dot_04 Shelf_bar__plus_01_dot_55_bar__plus_01_dot_40_bar__plus_00_dot_38) + + + (receptacleAtLocation Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03 loc_bar__minus_2_bar_0_bar_3_bar_45) + (receptacleAtLocation Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63 loc_bar_4_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_39_bar__plus_00_dot_13_bar__minus_01_dot_46 loc_bar_4_bar__minus_1_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_39_bar__plus_00_dot_33_bar__minus_01_dot_46 loc_bar_3_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_39_bar__plus_00_dot_54_bar__minus_01_dot_46 loc_bar_0_bar__minus_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_03_bar__plus_00_dot_13_bar__minus_01_dot_46 loc_bar_2_bar__minus_1_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_03_bar__plus_00_dot_33_bar__minus_01_dot_46 loc_bar__minus_2_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_03_bar__plus_00_dot_54_bar__minus_01_dot_46 loc_bar__minus_2_bar__minus_2_bar_2_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_61_bar__plus_00_dot_00_bar__plus_00_dot_80 loc_bar__minus_2_bar_1_bar_0_bar_60) + (receptacleAtLocation Shelf_bar__plus_01_dot_54_bar__plus_00_dot_48_bar__minus_00_dot_47 loc_bar_3_bar__minus_1_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__plus_01_dot_55_bar__plus_01_dot_40_bar__plus_00_dot_38 loc_bar_0_bar_2_bar_1_bar_15) + (receptacleAtLocation SideTable_bar__plus_01_dot_56_bar__minus_00_dot_01_bar__minus_00_dot_47 loc_bar_2_bar__minus_1_bar_1_bar_60) + (objectAtLocation Mug_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_33 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation Pencil_bar__plus_00_dot_49_bar__plus_00_dot_71_bar__minus_01_dot_52 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation Pen_bar__plus_00_dot_34_bar__plus_00_dot_09_bar__minus_01_dot_48 loc_bar_4_bar__minus_1_bar_2_bar_45) + (objectAtLocation Pillow_bar__minus_01_dot_92_bar__plus_00_dot_60_bar__minus_00_dot_57 loc_bar__minus_2_bar_0_bar_3_bar_45) + (objectAtLocation KeyChain_bar__plus_01_dot_60_bar__plus_00_dot_71_bar__minus_00_dot_70 loc_bar_2_bar__minus_1_bar_1_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_03_bar__plus_00_dot_08_bar__minus_01_dot_48 loc_bar_2_bar__minus_1_bar_2_bar_45) + (objectAtLocation TissueBox_bar__plus_01_dot_53_bar__plus_00_dot_70_bar__minus_01_dot_64 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation CellPhone_bar__plus_00_dot_74_bar__plus_00_dot_71_bar__minus_01_dot_52 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation AlarmClock_bar__plus_00_dot_25_bar__plus_00_dot_70_bar__minus_01_dot_72 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation Book_bar__minus_00_dot_03_bar__plus_00_dot_29_bar__minus_01_dot_43 loc_bar__minus_2_bar__minus_2_bar_2_bar_60) + (objectAtLocation KeyChain_bar__plus_00_dot_99_bar__plus_00_dot_70_bar__minus_01_dot_81 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation Pen_bar__plus_00_dot_74_bar__plus_00_dot_71_bar__minus_01_dot_33 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation CellPhone_bar__plus_00_dot_34_bar__plus_00_dot_08_bar__minus_01_dot_43 loc_bar_4_bar__minus_1_bar_2_bar_45) + (objectAtLocation Mug_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_62 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation Box_bar__plus_01_dot_54_bar__plus_01_dot_65_bar__plus_00_dot_69 loc_bar_0_bar_2_bar_1_bar_15) + (objectAtLocation Chair_bar__plus_00_dot_95_bar__plus_00_dot_00_bar__minus_01_dot_23 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation Mirror_bar__minus_00_dot_69_bar__plus_01_dot_50_bar__plus_00_dot_96 loc_bar__minus_3_bar_1_bar_0_bar_15) + (objectAtLocation Book_bar__minus_01_dot_34_bar__plus_00_dot_53_bar__plus_00_dot_40 loc_bar__minus_2_bar_0_bar_3_bar_45) + (objectAtLocation AlarmClock_bar__plus_01_dot_49_bar__plus_00_dot_71_bar__minus_00_dot_70 loc_bar_2_bar__minus_1_bar_1_bar_60) + (objectAtLocation CellPhone_bar__minus_01_dot_78_bar__plus_00_dot_53_bar__minus_00_dot_81 loc_bar__minus_2_bar_0_bar_3_bar_45) + (objectAtLocation TissueBox_bar__plus_00_dot_99_bar__plus_00_dot_70_bar__minus_01_dot_52 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation TeddyBear_bar__minus_02_dot_20_bar__plus_00_dot_50_bar__plus_00_dot_18 loc_bar__minus_2_bar_0_bar_3_bar_45) + (objectAtLocation CreditCard_bar__plus_01_dot_48_bar__plus_00_dot_70_bar__minus_01_dot_81 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation KeyChain_bar__plus_01_dot_60_bar__plus_00_dot_71_bar__minus_00_dot_39 loc_bar_2_bar__minus_1_bar_1_bar_60) + (objectAtLocation BaseballBat_bar__minus_02_dot_20_bar__plus_00_dot_04_bar__minus_01_dot_34 loc_bar__minus_3_bar__minus_5_bar_3_bar_45) + (objectAtLocation TennisRacket_bar__minus_02_dot_25_bar__plus_00_dot_32_bar__minus_01_dot_81 loc_bar__minus_3_bar__minus_6_bar_3_bar_45) + (objectAtLocation Painting_bar__minus_02_dot_40_bar__plus_01_dot_70_bar__minus_00_dot_86 loc_bar__minus_3_bar__minus_3_bar_3_bar_0) + (objectAtLocation Pillow_bar__minus_01_dot_63_bar__plus_00_dot_60_bar__minus_00_dot_08 loc_bar__minus_2_bar_0_bar_3_bar_45) + (objectAtLocation LightSwitch_bar__plus_00_dot_23_bar__plus_01_dot_29_bar__plus_00_dot_96 loc_bar_1_bar_2_bar_0_bar_45) + (objectAtLocation Laptop_bar__plus_00_dot_04_bar__plus_00_dot_69_bar__minus_01_dot_46 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation CD_bar__plus_01_dot_49_bar__plus_00_dot_71_bar__minus_00_dot_23 loc_bar_2_bar__minus_1_bar_1_bar_60) + (objectAtLocation Pen_bar__minus_00_dot_61_bar__plus_00_dot_06_bar__plus_00_dot_80 loc_bar__minus_2_bar_1_bar_0_bar_60) + (objectAtLocation HousePlant_bar__plus_01_dot_49_bar__plus_01_dot_40_bar__plus_00_dot_04 loc_bar_0_bar_2_bar_1_bar_15) + (objectAtLocation Window_bar__plus_00_dot_05_bar__plus_01_dot_56_bar__minus_02_dot_08 loc_bar_0_bar__minus_4_bar_2_bar_0) + (objectAtLocation Pencil_bar__plus_01_dot_23_bar__plus_00_dot_71_bar__minus_01_dot_42 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation Mug_bar__plus_01_dot_56_bar__plus_00_dot_71_bar__minus_00_dot_54 loc_bar_2_bar__minus_1_bar_1_bar_60) + (objectAtLocation Blinds_bar__plus_00_dot_01_bar__plus_02_dot_15_bar__minus_02_dot_01 loc_bar_0_bar__minus_4_bar_2_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 TissueBoxType) + (receptacleType ?r ShelfType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 TissueBoxType) + (receptacleType ?r ShelfType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git 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0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pen_7d241fed", + "position": { + "x": 0.341237277, + "y": 0.08749364, + "z": -1.47908425 + }, + "rotation": { + "x": 0.0, + "y": 179.999939, + "z": 0.0 + } + }, + { + "objectName": "Pencil_cbb1b9aa", + "position": { + "x": 0.4949773, + "y": 0.7051754, + "z": -1.52158391 + }, + "rotation": { + "x": 0.0, + "y": 179.999939, + "z": 0.0 + } + }, + { + "objectName": "Mug_6594cbaa", + "position": { + "x": 0.4949771, + "y": 0.7019834, + "z": -1.3263979 + }, + "rotation": { + "x": 0.0, + "y": 179.999939, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3566299206, + "scene_num": 313 + }, + "task_id": "trial_T20190907_041603_169557", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3PPLDHC3CG0YN_3570Y55XZS0JR2ZIAF6ZWBEPXM2YG4", + "high_descs": [ + "Turn around, walk to the book shelf, turn right, stop in front of the desk. ", + "Pick up the box of tissues to the left of the lamp. ", + "Turn around and face the shelf to the right of the book shelf. ", + "But the tissue box on the shelf below the compact disk. ", + "Turn right and stop in front of the desk. ", + "Pick up the other box of tissues from the desk. ", + "Turn around and face the shelf to the right of the book shelf. ", + "Put the tissue box on the shelf next to the other box of tissues. " + ], + "task_desc": "Move two boxes of tissues to the shelf. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2BLQ1GVEHJR8T_39N5ACM9HH4A3EK95M46R3ZQOXYP9P", + "high_descs": [ + "Turn left and go to the desk in the corner of the room.", + "Pick up the tissue box from the left side of the desk.", + "Go to the next piece of furniture to your left, which is a low cabinet.", + "Place the tissue box on the left side of the cubbyhole below the top of the cabinet.", + "Return to the desk on your right.", + "Pick up the remaining tissue box from the center of the desk.", + "Carry the tissue box back to the low cabinet on your left.", + "Place the tissue box on the right side of the opening in the cabinet." + ], + "task_desc": "Move two tissue boxes from the desk to a low cabinet.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3A0VPWPASCO9J_3R0T90IZ1VT6OZYDENOAZKM6UUBCGT", + "high_descs": [ + "Go to the bookshelf and hang a right to the desk.", + "Pick up the box of tissue to the left of the lamp on the desk.", + "Turn around to the cabinet next to the shelf with the disk on it.", + "Set the tissues on the shelf under the disk on the cabinet.", + "Turn and go back to the desk.", + "Pick up the box of tissue on the right of the lamp.", + "Turn around to the cabinet next to the shelf with the disk on it.", + "Set the box of tissue down on the shelf next to the other box of tissue" + ], + "task_desc": "Put two boxes of tissue on the shelf.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-TissueBox-None-Shelf-313/trial_T20190907_041626_531279/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-TissueBox-None-Shelf-313/trial_T20190907_041626_531279/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..b9ea8cd01d34d6f5ea8df8e6c77a0dc50f6260db --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-TissueBox-None-Shelf-313/trial_T20190907_041626_531279/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: find two tissuebox and put them in 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_T20190907_041626_531279)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n AlarmClock_bar__plus_01_dot_23_bar__plus_00_dot_70_bar__minus_01_dot_42 - object\n AlarmClock_bar__plus_01_dot_49_bar__plus_00_dot_71_bar__minus_00_dot_23 - object\n AlarmClock_bar__plus_01_dot_56_bar__plus_00_dot_71_bar__minus_00_dot_70 - object\n BaseballBat_bar__minus_02_dot_20_bar__plus_00_dot_04_bar__minus_01_dot_34 - object\n Blinds_bar__plus_00_dot_01_bar__plus_02_dot_15_bar__minus_02_dot_01 - object\n Book_bar__minus_01_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_81 - object\n Book_bar__minus_02_dot_22_bar__plus_00_dot_53_bar__minus_00_dot_57 - object\n Box_bar__plus_01_dot_54_bar__plus_01_dot_65_bar__plus_00_dot_69 - object\n CD_bar__plus_00_dot_74_bar__plus_00_dot_70_bar__minus_01_dot_62 - object\n CD_bar__minus_00_dot_03_bar__plus_00_dot_50_bar__minus_01_dot_53 - object\n CellPhone_bar__plus_00_dot_00_bar__plus_00_dot_70_bar__minus_01_dot_81 - object\n CellPhone_bar__minus_00_dot_07_bar__plus_00_dot_50_bar__minus_01_dot_59 - object\n CellPhone_bar__minus_01_dot_48_bar__plus_00_dot_53_bar__plus_00_dot_65 - object\n Chair_bar__plus_00_dot_95_bar__plus_00_dot_00_bar__minus_01_dot_23 - object\n CreditCard_bar__plus_00_dot_06_bar__plus_00_dot_29_bar__minus_01_dot_48 - object\n HousePlant_bar__plus_01_dot_49_bar__plus_01_dot_40_bar__plus_00_dot_04 - object\n KeyChain_bar__plus_00_dot_99_bar__plus_00_dot_70_bar__minus_01_dot_81 - object\n KeyChain_bar__plus_01_dot_56_bar__plus_00_dot_71_bar__minus_00_dot_39 - object\n Lamp_bar__plus_01_dot_30_bar__plus_00_dot_69_bar__minus_01_dot_72 - object\n Laptop_bar__plus_00_dot_04_bar__plus_00_dot_69_bar__minus_01_dot_46 - object\n LightSwitch_bar__plus_00_dot_23_bar__plus_01_dot_29_bar__plus_00_dot_96 - object\n Mirror_bar__minus_00_dot_69_bar__plus_01_dot_50_bar__plus_00_dot_96 - object\n Mug_bar__plus_00_dot_74_bar__plus_00_dot_70_bar__minus_01_dot_42 - object\n Painting_bar__minus_02_dot_40_bar__plus_01_dot_70_bar__minus_00_dot_86 - object\n Pencil_bar__plus_00_dot_48_bar__plus_00_dot_50_bar__minus_01_dot_48 - object\n Pencil_bar__plus_01_dot_60_bar__plus_00_dot_71_bar__minus_00_dot_54 - object\n Pen_bar__plus_00_dot_02_bar__plus_00_dot_30_bar__minus_01_dot_37 - object\n Pen_bar__plus_00_dot_49_bar__plus_00_dot_71_bar__minus_01_dot_62 - object\n Pillow_bar__minus_01_dot_78_bar__plus_00_dot_60_bar__minus_00_dot_57 - object\n TeddyBear_bar__minus_02_dot_20_bar__plus_00_dot_50_bar__plus_00_dot_18 - object\n TennisRacket_bar__minus_02_dot_25_bar__plus_00_dot_32_bar__minus_01_dot_81 - object\n TissueBox_bar__plus_00_dot_99_bar__plus_00_dot_71_bar__minus_01_dot_62 - object\n TissueBox_bar__plus_01_dot_53_bar__plus_00_dot_70_bar__minus_01_dot_64 - object\n Window_bar__plus_00_dot_05_bar__plus_01_dot_56_bar__minus_02_dot_08 - object\n Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03 - receptacle\n Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63 - receptacle\n Drawer_bar__plus_00_dot_39_bar__plus_00_dot_13_bar__minus_01_dot_46 - receptacle\n Drawer_bar__plus_00_dot_39_bar__plus_00_dot_33_bar__minus_01_dot_46 - receptacle\n Drawer_bar__plus_00_dot_39_bar__plus_00_dot_54_bar__minus_01_dot_46 - receptacle\n Drawer_bar__minus_00_dot_03_bar__plus_00_dot_13_bar__minus_01_dot_46 - receptacle\n Drawer_bar__minus_00_dot_03_bar__plus_00_dot_33_bar__minus_01_dot_46 - receptacle\n Drawer_bar__minus_00_dot_03_bar__plus_00_dot_54_bar__minus_01_dot_46 - receptacle\n GarbageCan_bar__minus_00_dot_61_bar__plus_00_dot_00_bar__plus_00_dot_80 - receptacle\n Shelf_bar__plus_01_dot_54_bar__plus_00_dot_48_bar__minus_00_dot_47 - receptacle\n Shelf_bar__plus_01_dot_55_bar__plus_01_dot_40_bar__plus_00_dot_38 - receptacle\n SideTable_bar__plus_01_dot_56_bar__minus_00_dot_01_bar__minus_00_dot_47 - receptacle\n loc_bar_0_bar_2_bar_1_bar_15 - location\n loc_bar_0_bar__minus_4_bar_2_bar_0 - location\n loc_bar__minus_3_bar__minus_5_bar_3_bar_45 - location\n loc_bar_3_bar__minus_1_bar_1_bar_60 - location\n loc_bar__minus_2_bar__minus_2_bar_2_bar_45 - location\n loc_bar__minus_2_bar_1_bar_0_bar_60 - location\n loc_bar_4_bar__minus_1_bar_2_bar_45 - location\n loc_bar__minus_3_bar__minus_6_bar_3_bar_45 - location\n loc_bar_1_bar_2_bar_0_bar_45 - location\n loc_bar__minus_3_bar_1_bar_0_bar_15 - location\n loc_bar_0_bar__minus_4_bar_2_bar__minus_30 - location\n loc_bar__minus_3_bar__minus_3_bar_3_bar_0 - location\n loc_bar_4_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_2_bar_0_bar_3_bar_45 - location\n loc_bar__minus_2_bar__minus_2_bar_2_bar_60 - location\n loc_bar_2_bar__minus_1_bar_1_bar_60 - location\n loc_bar_0_bar__minus_2_bar_2_bar_45 - location\n loc_bar_3_bar__minus_2_bar_2_bar_60 - location\n loc_bar_2_bar__minus_1_bar_2_bar_45 - location\n loc_bar_1_bar_2_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Shelf_bar__plus_01_dot_55_bar__plus_01_dot_40_bar__plus_00_dot_38 ShelfType)\n (receptacleType GarbageCan_bar__minus_00_dot_61_bar__plus_00_dot_00_bar__plus_00_dot_80 GarbageCanType)\n (receptacleType Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03 BedType)\n (receptacleType Drawer_bar__plus_00_dot_39_bar__plus_00_dot_54_bar__minus_01_dot_46 DrawerType)\n (receptacleType Shelf_bar__plus_01_dot_54_bar__plus_00_dot_48_bar__minus_00_dot_47 ShelfType)\n (receptacleType Drawer_bar__plus_00_dot_39_bar__plus_00_dot_13_bar__minus_01_dot_46 DrawerType)\n (receptacleType Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63 DeskType)\n (receptacleType Drawer_bar__minus_00_dot_03_bar__plus_00_dot_13_bar__minus_01_dot_46 DrawerType)\n (receptacleType SideTable_bar__plus_01_dot_56_bar__minus_00_dot_01_bar__minus_00_dot_47 SideTableType)\n (receptacleType Drawer_bar__minus_00_dot_03_bar__plus_00_dot_54_bar__minus_01_dot_46 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_03_bar__plus_00_dot_33_bar__minus_01_dot_46 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_39_bar__plus_00_dot_33_bar__minus_01_dot_46 DrawerType)\n (objectType TissueBox_bar__plus_00_dot_99_bar__plus_00_dot_71_bar__minus_01_dot_62 TissueBoxType)\n (objectType BaseballBat_bar__minus_02_dot_20_bar__plus_00_dot_04_bar__minus_01_dot_34 BaseballBatType)\n (objectType HousePlant_bar__plus_01_dot_49_bar__plus_01_dot_40_bar__plus_00_dot_04 HousePlantType)\n (objectType CellPhone_bar__minus_01_dot_48_bar__plus_00_dot_53_bar__plus_00_dot_65 CellPhoneType)\n (objectType Mug_bar__plus_00_dot_74_bar__plus_00_dot_70_bar__minus_01_dot_42 MugType)\n (objectType AlarmClock_bar__plus_01_dot_49_bar__plus_00_dot_71_bar__minus_00_dot_23 AlarmClockType)\n (objectType KeyChain_bar__plus_01_dot_56_bar__plus_00_dot_71_bar__minus_00_dot_39 KeyChainType)\n (objectType TeddyBear_bar__minus_02_dot_20_bar__plus_00_dot_50_bar__plus_00_dot_18 TeddyBearType)\n (objectType Chair_bar__plus_00_dot_95_bar__plus_00_dot_00_bar__minus_01_dot_23 ChairType)\n (objectType Pillow_bar__minus_01_dot_78_bar__plus_00_dot_60_bar__minus_00_dot_57 PillowType)\n (objectType LightSwitch_bar__plus_00_dot_23_bar__plus_01_dot_29_bar__plus_00_dot_96 LightSwitchType)\n (objectType Laptop_bar__plus_00_dot_04_bar__plus_00_dot_69_bar__minus_01_dot_46 LaptopType)\n (objectType CD_bar__minus_00_dot_03_bar__plus_00_dot_50_bar__minus_01_dot_53 CDType)\n (objectType Mirror_bar__minus_00_dot_69_bar__plus_01_dot_50_bar__plus_00_dot_96 MirrorType)\n (objectType Painting_bar__minus_02_dot_40_bar__plus_01_dot_70_bar__minus_00_dot_86 PaintingType)\n (objectType AlarmClock_bar__plus_01_dot_56_bar__plus_00_dot_71_bar__minus_00_dot_70 AlarmClockType)\n (objectType Pen_bar__plus_00_dot_49_bar__plus_00_dot_71_bar__minus_01_dot_62 PenType)\n (objectType CellPhone_bar__minus_00_dot_07_bar__plus_00_dot_50_bar__minus_01_dot_59 CellPhoneType)\n (objectType Pencil_bar__plus_00_dot_48_bar__plus_00_dot_50_bar__minus_01_dot_48 PencilType)\n (objectType AlarmClock_bar__plus_01_dot_23_bar__plus_00_dot_70_bar__minus_01_dot_42 AlarmClockType)\n (objectType Book_bar__minus_02_dot_22_bar__plus_00_dot_53_bar__minus_00_dot_57 BookType)\n (objectType CD_bar__plus_00_dot_74_bar__plus_00_dot_70_bar__minus_01_dot_62 CDType)\n (objectType Pencil_bar__plus_01_dot_60_bar__plus_00_dot_71_bar__minus_00_dot_54 PencilType)\n (objectType Box_bar__plus_01_dot_54_bar__plus_01_dot_65_bar__plus_00_dot_69 BoxType)\n (objectType CellPhone_bar__plus_00_dot_00_bar__plus_00_dot_70_bar__minus_01_dot_81 CellPhoneType)\n (objectType Blinds_bar__plus_00_dot_01_bar__plus_02_dot_15_bar__minus_02_dot_01 BlindsType)\n (objectType TissueBox_bar__plus_01_dot_53_bar__plus_00_dot_70_bar__minus_01_dot_64 TissueBoxType)\n (objectType Book_bar__minus_01_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_81 BookType)\n (objectType TennisRacket_bar__minus_02_dot_25_bar__plus_00_dot_32_bar__minus_01_dot_81 TennisRacketType)\n (objectType Window_bar__plus_00_dot_05_bar__plus_01_dot_56_bar__minus_02_dot_08 WindowType)\n (objectType Pen_bar__plus_00_dot_02_bar__plus_00_dot_30_bar__minus_01_dot_37 PenType)\n (objectType CreditCard_bar__plus_00_dot_06_bar__plus_00_dot_29_bar__minus_01_dot_48 CreditCardType)\n (objectType KeyChain_bar__plus_00_dot_99_bar__plus_00_dot_70_bar__minus_01_dot_81 KeyChainType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType AlarmClockType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType PencilType)\n (canContain GarbageCanType TissueBoxType)\n (canContain BedType BaseballBatType)\n (canContain BedType TennisRacketType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType 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 TissueBoxType)\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 TissueBoxType)\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 TissueBoxType)\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 TennisRacketType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType TissueBoxType)\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 TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (pickupable TissueBox_bar__plus_00_dot_99_bar__plus_00_dot_71_bar__minus_01_dot_62)\n (pickupable BaseballBat_bar__minus_02_dot_20_bar__plus_00_dot_04_bar__minus_01_dot_34)\n (pickupable CellPhone_bar__minus_01_dot_48_bar__plus_00_dot_53_bar__plus_00_dot_65)\n (pickupable Mug_bar__plus_00_dot_74_bar__plus_00_dot_70_bar__minus_01_dot_42)\n (pickupable AlarmClock_bar__plus_01_dot_49_bar__plus_00_dot_71_bar__minus_00_dot_23)\n (pickupable KeyChain_bar__plus_01_dot_56_bar__plus_00_dot_71_bar__minus_00_dot_39)\n (pickupable TeddyBear_bar__minus_02_dot_20_bar__plus_00_dot_50_bar__plus_00_dot_18)\n (pickupable Pillow_bar__minus_01_dot_78_bar__plus_00_dot_60_bar__minus_00_dot_57)\n (pickupable Laptop_bar__plus_00_dot_04_bar__plus_00_dot_69_bar__minus_01_dot_46)\n (pickupable CD_bar__minus_00_dot_03_bar__plus_00_dot_50_bar__minus_01_dot_53)\n (pickupable AlarmClock_bar__plus_01_dot_56_bar__plus_00_dot_71_bar__minus_00_dot_70)\n (pickupable Pen_bar__plus_00_dot_49_bar__plus_00_dot_71_bar__minus_01_dot_62)\n (pickupable CellPhone_bar__minus_00_dot_07_bar__plus_00_dot_50_bar__minus_01_dot_59)\n (pickupable Pencil_bar__plus_00_dot_48_bar__plus_00_dot_50_bar__minus_01_dot_48)\n (pickupable AlarmClock_bar__plus_01_dot_23_bar__plus_00_dot_70_bar__minus_01_dot_42)\n (pickupable Book_bar__minus_02_dot_22_bar__plus_00_dot_53_bar__minus_00_dot_57)\n (pickupable CD_bar__plus_00_dot_74_bar__plus_00_dot_70_bar__minus_01_dot_62)\n (pickupable Pencil_bar__plus_01_dot_60_bar__plus_00_dot_71_bar__minus_00_dot_54)\n (pickupable Box_bar__plus_01_dot_54_bar__plus_01_dot_65_bar__plus_00_dot_69)\n (pickupable CellPhone_bar__plus_00_dot_00_bar__plus_00_dot_70_bar__minus_01_dot_81)\n (pickupable TissueBox_bar__plus_01_dot_53_bar__plus_00_dot_70_bar__minus_01_dot_64)\n (pickupable Book_bar__minus_01_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_81)\n (pickupable TennisRacket_bar__minus_02_dot_25_bar__plus_00_dot_32_bar__minus_01_dot_81)\n (pickupable Pen_bar__plus_00_dot_02_bar__plus_00_dot_30_bar__minus_01_dot_37)\n (pickupable CreditCard_bar__plus_00_dot_06_bar__plus_00_dot_29_bar__minus_01_dot_48)\n (pickupable KeyChain_bar__plus_00_dot_99_bar__plus_00_dot_70_bar__minus_01_dot_81)\n (isReceptacleObject Mug_bar__plus_00_dot_74_bar__plus_00_dot_70_bar__minus_01_dot_42)\n (isReceptacleObject Box_bar__plus_01_dot_54_bar__plus_01_dot_65_bar__plus_00_dot_69)\n (openable Drawer_bar__plus_00_dot_39_bar__plus_00_dot_54_bar__minus_01_dot_46)\n (openable Drawer_bar__plus_00_dot_39_bar__plus_00_dot_13_bar__minus_01_dot_46)\n (openable Drawer_bar__minus_00_dot_03_bar__plus_00_dot_13_bar__minus_01_dot_46)\n (openable Drawer_bar__minus_00_dot_03_bar__plus_00_dot_54_bar__minus_01_dot_46)\n (openable Drawer_bar__minus_00_dot_03_bar__plus_00_dot_33_bar__minus_01_dot_46)\n (openable Drawer_bar__plus_00_dot_39_bar__plus_00_dot_33_bar__minus_01_dot_46)\n \n (atLocation agent1 loc_bar_1_bar_2_bar_3_bar_30)\n \n (cleanable Mug_bar__plus_00_dot_74_bar__plus_00_dot_70_bar__minus_01_dot_42)\n \n (heatable Mug_bar__plus_00_dot_74_bar__plus_00_dot_70_bar__minus_01_dot_42)\n (coolable Mug_bar__plus_00_dot_74_bar__plus_00_dot_70_bar__minus_01_dot_42)\n \n \n \n \n \n \n \n (inReceptacle CD_bar__minus_00_dot_03_bar__plus_00_dot_50_bar__minus_01_dot_53 Drawer_bar__minus_00_dot_03_bar__plus_00_dot_54_bar__minus_01_dot_46)\n (inReceptacle CellPhone_bar__minus_00_dot_07_bar__plus_00_dot_50_bar__minus_01_dot_59 Drawer_bar__minus_00_dot_03_bar__plus_00_dot_54_bar__minus_01_dot_46)\n (inReceptacle TissueBox_bar__plus_01_dot_53_bar__plus_00_dot_70_bar__minus_01_dot_64 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63)\n (inReceptacle TissueBox_bar__plus_00_dot_99_bar__plus_00_dot_71_bar__minus_01_dot_62 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63)\n (inReceptacle Laptop_bar__plus_00_dot_04_bar__plus_00_dot_69_bar__minus_01_dot_46 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63)\n (inReceptacle AlarmClock_bar__plus_01_dot_23_bar__plus_00_dot_70_bar__minus_01_dot_42 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63)\n (inReceptacle CD_bar__plus_00_dot_74_bar__plus_00_dot_70_bar__minus_01_dot_62 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63)\n (inReceptacle Mug_bar__plus_00_dot_74_bar__plus_00_dot_70_bar__minus_01_dot_42 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63)\n (inReceptacle KeyChain_bar__plus_00_dot_99_bar__plus_00_dot_70_bar__minus_01_dot_81 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63)\n (inReceptacle Pen_bar__plus_00_dot_49_bar__plus_00_dot_71_bar__minus_01_dot_62 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63)\n (inReceptacle CellPhone_bar__plus_00_dot_00_bar__plus_00_dot_70_bar__minus_01_dot_81 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63)\n (inReceptacle Pen_bar__plus_00_dot_02_bar__plus_00_dot_30_bar__minus_01_dot_37 Drawer_bar__minus_00_dot_03_bar__plus_00_dot_33_bar__minus_01_dot_46)\n (inReceptacle CreditCard_bar__plus_00_dot_06_bar__plus_00_dot_29_bar__minus_01_dot_48 Drawer_bar__minus_00_dot_03_bar__plus_00_dot_33_bar__minus_01_dot_46)\n (inReceptacle Pencil_bar__plus_01_dot_60_bar__plus_00_dot_71_bar__minus_00_dot_54 SideTable_bar__plus_01_dot_56_bar__minus_00_dot_01_bar__minus_00_dot_47)\n (inReceptacle KeyChain_bar__plus_01_dot_56_bar__plus_00_dot_71_bar__minus_00_dot_39 SideTable_bar__plus_01_dot_56_bar__minus_00_dot_01_bar__minus_00_dot_47)\n (inReceptacle AlarmClock_bar__plus_01_dot_49_bar__plus_00_dot_71_bar__minus_00_dot_23 SideTable_bar__plus_01_dot_56_bar__minus_00_dot_01_bar__minus_00_dot_47)\n (inReceptacle AlarmClock_bar__plus_01_dot_56_bar__plus_00_dot_71_bar__minus_00_dot_70 SideTable_bar__plus_01_dot_56_bar__minus_00_dot_01_bar__minus_00_dot_47)\n (inReceptacle TeddyBear_bar__minus_02_dot_20_bar__plus_00_dot_50_bar__plus_00_dot_18 Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03)\n (inReceptacle Pillow_bar__minus_01_dot_78_bar__plus_00_dot_60_bar__minus_00_dot_57 Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03)\n (inReceptacle Book_bar__minus_02_dot_22_bar__plus_00_dot_53_bar__minus_00_dot_57 Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03)\n (inReceptacle CellPhone_bar__minus_01_dot_48_bar__plus_00_dot_53_bar__plus_00_dot_65 Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03)\n (inReceptacle Book_bar__minus_01_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_81 Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03)\n (inReceptacle Pencil_bar__plus_00_dot_48_bar__plus_00_dot_50_bar__minus_01_dot_48 Drawer_bar__plus_00_dot_39_bar__plus_00_dot_54_bar__minus_01_dot_46)\n (inReceptacle Box_bar__plus_01_dot_54_bar__plus_01_dot_65_bar__plus_00_dot_69 Shelf_bar__plus_01_dot_55_bar__plus_01_dot_40_bar__plus_00_dot_38)\n (inReceptacle HousePlant_bar__plus_01_dot_49_bar__plus_01_dot_40_bar__plus_00_dot_04 Shelf_bar__plus_01_dot_55_bar__plus_01_dot_40_bar__plus_00_dot_38)\n \n \n (receptacleAtLocation Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (receptacleAtLocation Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_39_bar__plus_00_dot_13_bar__minus_01_dot_46 loc_bar_4_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_39_bar__plus_00_dot_33_bar__minus_01_dot_46 loc_bar_3_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_39_bar__plus_00_dot_54_bar__minus_01_dot_46 loc_bar_0_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_03_bar__plus_00_dot_13_bar__minus_01_dot_46 loc_bar_2_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_03_bar__plus_00_dot_33_bar__minus_01_dot_46 loc_bar__minus_2_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_03_bar__plus_00_dot_54_bar__minus_01_dot_46 loc_bar__minus_2_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_61_bar__plus_00_dot_00_bar__plus_00_dot_80 loc_bar__minus_2_bar_1_bar_0_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_54_bar__plus_00_dot_48_bar__minus_00_dot_47 loc_bar_3_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_55_bar__plus_01_dot_40_bar__plus_00_dot_38 loc_bar_0_bar_2_bar_1_bar_15)\n (receptacleAtLocation SideTable_bar__plus_01_dot_56_bar__minus_00_dot_01_bar__minus_00_dot_47 loc_bar_2_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Pencil_bar__plus_01_dot_60_bar__plus_00_dot_71_bar__minus_00_dot_54 loc_bar_2_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Pen_bar__plus_00_dot_02_bar__plus_00_dot_30_bar__minus_01_dot_37 loc_bar__minus_2_bar__minus_2_bar_2_bar_60)\n (objectAtLocation CD_bar__plus_00_dot_74_bar__plus_00_dot_70_bar__minus_01_dot_62 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__plus_01_dot_56_bar__plus_00_dot_71_bar__minus_00_dot_39 loc_bar_2_bar__minus_1_bar_1_bar_60)\n (objectAtLocation TissueBox_bar__plus_01_dot_53_bar__plus_00_dot_70_bar__minus_01_dot_64 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__plus_00_dot_00_bar__plus_00_dot_70_bar__minus_01_dot_81 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation AlarmClock_bar__plus_01_dot_23_bar__plus_00_dot_70_bar__minus_01_dot_42 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Book_bar__minus_02_dot_22_bar__plus_00_dot_53_bar__minus_00_dot_57 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation AlarmClock_bar__plus_01_dot_56_bar__plus_00_dot_71_bar__minus_00_dot_70 loc_bar_2_bar__minus_1_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__minus_01_dot_48_bar__plus_00_dot_53_bar__plus_00_dot_65 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation Box_bar__plus_01_dot_54_bar__plus_01_dot_65_bar__plus_00_dot_69 loc_bar_0_bar_2_bar_1_bar_15)\n (objectAtLocation Chair_bar__plus_00_dot_95_bar__plus_00_dot_00_bar__minus_01_dot_23 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Mirror_bar__minus_00_dot_69_bar__plus_01_dot_50_bar__plus_00_dot_96 loc_bar__minus_3_bar_1_bar_0_bar_15)\n (objectAtLocation Book_bar__minus_01_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_81 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation AlarmClock_bar__plus_01_dot_49_bar__plus_00_dot_71_bar__minus_00_dot_23 loc_bar_2_bar__minus_1_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__minus_00_dot_07_bar__plus_00_dot_50_bar__minus_01_dot_59 loc_bar__minus_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation TissueBox_bar__plus_00_dot_99_bar__plus_00_dot_71_bar__minus_01_dot_62 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation TeddyBear_bar__minus_02_dot_20_bar__plus_00_dot_50_bar__plus_00_dot_18 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation CreditCard_bar__plus_00_dot_06_bar__plus_00_dot_29_bar__minus_01_dot_48 loc_bar__minus_2_bar__minus_2_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__plus_00_dot_99_bar__plus_00_dot_70_bar__minus_01_dot_81 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation BaseballBat_bar__minus_02_dot_20_bar__plus_00_dot_04_bar__minus_01_dot_34 loc_bar__minus_3_bar__minus_5_bar_3_bar_45)\n (objectAtLocation TennisRacket_bar__minus_02_dot_25_bar__plus_00_dot_32_bar__minus_01_dot_81 loc_bar__minus_3_bar__minus_6_bar_3_bar_45)\n (objectAtLocation Painting_bar__minus_02_dot_40_bar__plus_01_dot_70_bar__minus_00_dot_86 loc_bar__minus_3_bar__minus_3_bar_3_bar_0)\n (objectAtLocation Pillow_bar__minus_01_dot_78_bar__plus_00_dot_60_bar__minus_00_dot_57 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation LightSwitch_bar__plus_00_dot_23_bar__plus_01_dot_29_bar__plus_00_dot_96 loc_bar_1_bar_2_bar_0_bar_45)\n (objectAtLocation Laptop_bar__plus_00_dot_04_bar__plus_00_dot_69_bar__minus_01_dot_46 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation CD_bar__minus_00_dot_03_bar__plus_00_dot_50_bar__minus_01_dot_53 loc_bar__minus_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Pen_bar__plus_00_dot_49_bar__plus_00_dot_71_bar__minus_01_dot_62 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation HousePlant_bar__plus_01_dot_49_bar__plus_01_dot_40_bar__plus_00_dot_04 loc_bar_0_bar_2_bar_1_bar_15)\n (objectAtLocation Window_bar__plus_00_dot_05_bar__plus_01_dot_56_bar__minus_02_dot_08 loc_bar_0_bar__minus_4_bar_2_bar_0)\n (objectAtLocation Pencil_bar__plus_00_dot_48_bar__plus_00_dot_50_bar__minus_01_dot_48 loc_bar_0_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Mug_bar__plus_00_dot_74_bar__plus_00_dot_70_bar__minus_01_dot_42 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Blinds_bar__plus_00_dot_01_bar__plus_02_dot_15_bar__minus_02_dot_01 loc_bar_0_bar__minus_4_bar_2_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 TissueBoxType)\n (receptacleType ?r ShelfType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 TissueBoxType)\n (receptacleType ?r ShelfType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to desk 1", "take tissuebox 2 from desk 1", "go to shelf 1", "move tissuebox 2 to shelf 1", "go to desk 1", "take tissuebox 1 from desk 1", "go to shelf 1", "move tissuebox 1 to shelf 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-TissueBox-None-Shelf-313/trial_T20190907_041626_531279/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-TissueBox-None-Shelf-313/trial_T20190907_041626_531279/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..079fc892c4aedf415a4f6a3a0f09b96bff9340a1 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-TissueBox-None-Shelf-313/trial_T20190907_041626_531279/initial_state.pddl @@ -0,0 +1,565 @@ + +(define (problem plan_trial_T20190907_041626_531279) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + AlarmClock_bar__plus_01_dot_23_bar__plus_00_dot_70_bar__minus_01_dot_42 - object + AlarmClock_bar__plus_01_dot_49_bar__plus_00_dot_71_bar__minus_00_dot_23 - object + AlarmClock_bar__plus_01_dot_56_bar__plus_00_dot_71_bar__minus_00_dot_70 - object + BaseballBat_bar__minus_02_dot_20_bar__plus_00_dot_04_bar__minus_01_dot_34 - object + Blinds_bar__plus_00_dot_01_bar__plus_02_dot_15_bar__minus_02_dot_01 - object + Book_bar__minus_01_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_81 - object + Book_bar__minus_02_dot_22_bar__plus_00_dot_53_bar__minus_00_dot_57 - object + Box_bar__plus_01_dot_54_bar__plus_01_dot_65_bar__plus_00_dot_69 - object + CD_bar__plus_00_dot_74_bar__plus_00_dot_70_bar__minus_01_dot_62 - object + CD_bar__minus_00_dot_03_bar__plus_00_dot_50_bar__minus_01_dot_53 - object + CellPhone_bar__plus_00_dot_00_bar__plus_00_dot_70_bar__minus_01_dot_81 - object + CellPhone_bar__minus_00_dot_07_bar__plus_00_dot_50_bar__minus_01_dot_59 - object + CellPhone_bar__minus_01_dot_48_bar__plus_00_dot_53_bar__plus_00_dot_65 - object + Chair_bar__plus_00_dot_95_bar__plus_00_dot_00_bar__minus_01_dot_23 - object + CreditCard_bar__plus_00_dot_06_bar__plus_00_dot_29_bar__minus_01_dot_48 - object + HousePlant_bar__plus_01_dot_49_bar__plus_01_dot_40_bar__plus_00_dot_04 - object + KeyChain_bar__plus_00_dot_99_bar__plus_00_dot_70_bar__minus_01_dot_81 - object + KeyChain_bar__plus_01_dot_56_bar__plus_00_dot_71_bar__minus_00_dot_39 - object + Lamp_bar__plus_01_dot_30_bar__plus_00_dot_69_bar__minus_01_dot_72 - object + Laptop_bar__plus_00_dot_04_bar__plus_00_dot_69_bar__minus_01_dot_46 - object + LightSwitch_bar__plus_00_dot_23_bar__plus_01_dot_29_bar__plus_00_dot_96 - object + Mirror_bar__minus_00_dot_69_bar__plus_01_dot_50_bar__plus_00_dot_96 - object + Mug_bar__plus_00_dot_74_bar__plus_00_dot_70_bar__minus_01_dot_42 - object + Painting_bar__minus_02_dot_40_bar__plus_01_dot_70_bar__minus_00_dot_86 - object + Pencil_bar__plus_00_dot_48_bar__plus_00_dot_50_bar__minus_01_dot_48 - object + Pencil_bar__plus_01_dot_60_bar__plus_00_dot_71_bar__minus_00_dot_54 - object + Pen_bar__plus_00_dot_02_bar__plus_00_dot_30_bar__minus_01_dot_37 - object + Pen_bar__plus_00_dot_49_bar__plus_00_dot_71_bar__minus_01_dot_62 - object + Pillow_bar__minus_01_dot_78_bar__plus_00_dot_60_bar__minus_00_dot_57 - object + TeddyBear_bar__minus_02_dot_20_bar__plus_00_dot_50_bar__plus_00_dot_18 - object + TennisRacket_bar__minus_02_dot_25_bar__plus_00_dot_32_bar__minus_01_dot_81 - object + TissueBox_bar__plus_00_dot_99_bar__plus_00_dot_71_bar__minus_01_dot_62 - object + TissueBox_bar__plus_01_dot_53_bar__plus_00_dot_70_bar__minus_01_dot_64 - object + Window_bar__plus_00_dot_05_bar__plus_01_dot_56_bar__minus_02_dot_08 - object + Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03 - receptacle + Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63 - receptacle + Drawer_bar__plus_00_dot_39_bar__plus_00_dot_13_bar__minus_01_dot_46 - receptacle + Drawer_bar__plus_00_dot_39_bar__plus_00_dot_33_bar__minus_01_dot_46 - receptacle + Drawer_bar__plus_00_dot_39_bar__plus_00_dot_54_bar__minus_01_dot_46 - receptacle + Drawer_bar__minus_00_dot_03_bar__plus_00_dot_13_bar__minus_01_dot_46 - receptacle + Drawer_bar__minus_00_dot_03_bar__plus_00_dot_33_bar__minus_01_dot_46 - receptacle + Drawer_bar__minus_00_dot_03_bar__plus_00_dot_54_bar__minus_01_dot_46 - receptacle + GarbageCan_bar__minus_00_dot_61_bar__plus_00_dot_00_bar__plus_00_dot_80 - receptacle + Shelf_bar__plus_01_dot_54_bar__plus_00_dot_48_bar__minus_00_dot_47 - receptacle + Shelf_bar__plus_01_dot_55_bar__plus_01_dot_40_bar__plus_00_dot_38 - receptacle + SideTable_bar__plus_01_dot_56_bar__minus_00_dot_01_bar__minus_00_dot_47 - receptacle + loc_bar_0_bar_2_bar_1_bar_15 - location + loc_bar_0_bar__minus_4_bar_2_bar_0 - location + loc_bar__minus_3_bar__minus_5_bar_3_bar_45 - location + loc_bar_3_bar__minus_1_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_2_bar_2_bar_45 - location + loc_bar__minus_2_bar_1_bar_0_bar_60 - location + loc_bar_4_bar__minus_1_bar_2_bar_45 - location + loc_bar__minus_3_bar__minus_6_bar_3_bar_45 - location + loc_bar_1_bar_2_bar_0_bar_45 - location + loc_bar__minus_3_bar_1_bar_0_bar_15 - location + loc_bar_0_bar__minus_4_bar_2_bar__minus_30 - location + loc_bar__minus_3_bar__minus_3_bar_3_bar_0 - location + loc_bar_4_bar__minus_2_bar_2_bar_60 - location + loc_bar__minus_2_bar_0_bar_3_bar_45 - location + loc_bar__minus_2_bar__minus_2_bar_2_bar_60 - location + loc_bar_2_bar__minus_1_bar_1_bar_60 - location + loc_bar_0_bar__minus_2_bar_2_bar_45 - location + loc_bar_3_bar__minus_2_bar_2_bar_60 - location + loc_bar_2_bar__minus_1_bar_2_bar_45 - location + loc_bar_1_bar_2_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Shelf_bar__plus_01_dot_55_bar__plus_01_dot_40_bar__plus_00_dot_38 ShelfType) + (receptacleType GarbageCan_bar__minus_00_dot_61_bar__plus_00_dot_00_bar__plus_00_dot_80 GarbageCanType) + (receptacleType Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03 BedType) + (receptacleType Drawer_bar__plus_00_dot_39_bar__plus_00_dot_54_bar__minus_01_dot_46 DrawerType) + (receptacleType Shelf_bar__plus_01_dot_54_bar__plus_00_dot_48_bar__minus_00_dot_47 ShelfType) + (receptacleType Drawer_bar__plus_00_dot_39_bar__plus_00_dot_13_bar__minus_01_dot_46 DrawerType) + (receptacleType Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63 DeskType) + (receptacleType Drawer_bar__minus_00_dot_03_bar__plus_00_dot_13_bar__minus_01_dot_46 DrawerType) + (receptacleType SideTable_bar__plus_01_dot_56_bar__minus_00_dot_01_bar__minus_00_dot_47 SideTableType) + (receptacleType Drawer_bar__minus_00_dot_03_bar__plus_00_dot_54_bar__minus_01_dot_46 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_03_bar__plus_00_dot_33_bar__minus_01_dot_46 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_39_bar__plus_00_dot_33_bar__minus_01_dot_46 DrawerType) + (objectType TissueBox_bar__plus_00_dot_99_bar__plus_00_dot_71_bar__minus_01_dot_62 TissueBoxType) + (objectType BaseballBat_bar__minus_02_dot_20_bar__plus_00_dot_04_bar__minus_01_dot_34 BaseballBatType) + (objectType HousePlant_bar__plus_01_dot_49_bar__plus_01_dot_40_bar__plus_00_dot_04 HousePlantType) + (objectType CellPhone_bar__minus_01_dot_48_bar__plus_00_dot_53_bar__plus_00_dot_65 CellPhoneType) + (objectType Mug_bar__plus_00_dot_74_bar__plus_00_dot_70_bar__minus_01_dot_42 MugType) + (objectType AlarmClock_bar__plus_01_dot_49_bar__plus_00_dot_71_bar__minus_00_dot_23 AlarmClockType) + (objectType KeyChain_bar__plus_01_dot_56_bar__plus_00_dot_71_bar__minus_00_dot_39 KeyChainType) + (objectType TeddyBear_bar__minus_02_dot_20_bar__plus_00_dot_50_bar__plus_00_dot_18 TeddyBearType) + (objectType Chair_bar__plus_00_dot_95_bar__plus_00_dot_00_bar__minus_01_dot_23 ChairType) + (objectType Pillow_bar__minus_01_dot_78_bar__plus_00_dot_60_bar__minus_00_dot_57 PillowType) + (objectType LightSwitch_bar__plus_00_dot_23_bar__plus_01_dot_29_bar__plus_00_dot_96 LightSwitchType) + (objectType Laptop_bar__plus_00_dot_04_bar__plus_00_dot_69_bar__minus_01_dot_46 LaptopType) + (objectType CD_bar__minus_00_dot_03_bar__plus_00_dot_50_bar__minus_01_dot_53 CDType) + (objectType Mirror_bar__minus_00_dot_69_bar__plus_01_dot_50_bar__plus_00_dot_96 MirrorType) + (objectType Painting_bar__minus_02_dot_40_bar__plus_01_dot_70_bar__minus_00_dot_86 PaintingType) + (objectType AlarmClock_bar__plus_01_dot_56_bar__plus_00_dot_71_bar__minus_00_dot_70 AlarmClockType) + (objectType Pen_bar__plus_00_dot_49_bar__plus_00_dot_71_bar__minus_01_dot_62 PenType) + (objectType CellPhone_bar__minus_00_dot_07_bar__plus_00_dot_50_bar__minus_01_dot_59 CellPhoneType) + (objectType Pencil_bar__plus_00_dot_48_bar__plus_00_dot_50_bar__minus_01_dot_48 PencilType) + (objectType AlarmClock_bar__plus_01_dot_23_bar__plus_00_dot_70_bar__minus_01_dot_42 AlarmClockType) + (objectType Book_bar__minus_02_dot_22_bar__plus_00_dot_53_bar__minus_00_dot_57 BookType) + (objectType CD_bar__plus_00_dot_74_bar__plus_00_dot_70_bar__minus_01_dot_62 CDType) + (objectType Pencil_bar__plus_01_dot_60_bar__plus_00_dot_71_bar__minus_00_dot_54 PencilType) + (objectType Box_bar__plus_01_dot_54_bar__plus_01_dot_65_bar__plus_00_dot_69 BoxType) + (objectType CellPhone_bar__plus_00_dot_00_bar__plus_00_dot_70_bar__minus_01_dot_81 CellPhoneType) + (objectType Blinds_bar__plus_00_dot_01_bar__plus_02_dot_15_bar__minus_02_dot_01 BlindsType) + (objectType TissueBox_bar__plus_01_dot_53_bar__plus_00_dot_70_bar__minus_01_dot_64 TissueBoxType) + (objectType Book_bar__minus_01_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_81 BookType) + (objectType TennisRacket_bar__minus_02_dot_25_bar__plus_00_dot_32_bar__minus_01_dot_81 TennisRacketType) + (objectType Window_bar__plus_00_dot_05_bar__plus_01_dot_56_bar__minus_02_dot_08 WindowType) + (objectType Pen_bar__plus_00_dot_02_bar__plus_00_dot_30_bar__minus_01_dot_37 PenType) + (objectType CreditCard_bar__plus_00_dot_06_bar__plus_00_dot_29_bar__minus_01_dot_48 CreditCardType) + (objectType KeyChain_bar__plus_00_dot_99_bar__plus_00_dot_70_bar__minus_01_dot_81 KeyChainType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType CDType) + (canContain ShelfType MugType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType AlarmClockType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType PencilType) + (canContain GarbageCanType TissueBoxType) + (canContain BedType BaseballBatType) + (canContain BedType TennisRacketType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType TissueBoxType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType CDType) + (canContain ShelfType MugType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType TissueBoxType) + (canContain DeskType PenType) + (canContain DeskType BookType) + (canContain DeskType CDType) + (canContain DeskType MugType) + (canContain DeskType BoxType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType TennisRacketType) + (canContain DeskType LaptopType) + (canContain DeskType PencilType) + (canContain DeskType TissueBoxType) + (canContain DeskType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType TissueBoxType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType CDType) + (canContain SideTableType MugType) + (canContain SideTableType BoxType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType BaseballBatType) + (canContain SideTableType TennisRacketType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType TissueBoxType) + (canContain SideTableType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType TissueBoxType) + (pickupable TissueBox_bar__plus_00_dot_99_bar__plus_00_dot_71_bar__minus_01_dot_62) + (pickupable BaseballBat_bar__minus_02_dot_20_bar__plus_00_dot_04_bar__minus_01_dot_34) + (pickupable CellPhone_bar__minus_01_dot_48_bar__plus_00_dot_53_bar__plus_00_dot_65) + (pickupable Mug_bar__plus_00_dot_74_bar__plus_00_dot_70_bar__minus_01_dot_42) + (pickupable AlarmClock_bar__plus_01_dot_49_bar__plus_00_dot_71_bar__minus_00_dot_23) + (pickupable KeyChain_bar__plus_01_dot_56_bar__plus_00_dot_71_bar__minus_00_dot_39) + (pickupable TeddyBear_bar__minus_02_dot_20_bar__plus_00_dot_50_bar__plus_00_dot_18) + (pickupable Pillow_bar__minus_01_dot_78_bar__plus_00_dot_60_bar__minus_00_dot_57) + (pickupable Laptop_bar__plus_00_dot_04_bar__plus_00_dot_69_bar__minus_01_dot_46) + (pickupable CD_bar__minus_00_dot_03_bar__plus_00_dot_50_bar__minus_01_dot_53) + (pickupable AlarmClock_bar__plus_01_dot_56_bar__plus_00_dot_71_bar__minus_00_dot_70) + (pickupable Pen_bar__plus_00_dot_49_bar__plus_00_dot_71_bar__minus_01_dot_62) + (pickupable CellPhone_bar__minus_00_dot_07_bar__plus_00_dot_50_bar__minus_01_dot_59) + (pickupable Pencil_bar__plus_00_dot_48_bar__plus_00_dot_50_bar__minus_01_dot_48) + (pickupable AlarmClock_bar__plus_01_dot_23_bar__plus_00_dot_70_bar__minus_01_dot_42) + (pickupable Book_bar__minus_02_dot_22_bar__plus_00_dot_53_bar__minus_00_dot_57) + (pickupable CD_bar__plus_00_dot_74_bar__plus_00_dot_70_bar__minus_01_dot_62) + (pickupable Pencil_bar__plus_01_dot_60_bar__plus_00_dot_71_bar__minus_00_dot_54) + (pickupable Box_bar__plus_01_dot_54_bar__plus_01_dot_65_bar__plus_00_dot_69) + (pickupable CellPhone_bar__plus_00_dot_00_bar__plus_00_dot_70_bar__minus_01_dot_81) + (pickupable TissueBox_bar__plus_01_dot_53_bar__plus_00_dot_70_bar__minus_01_dot_64) + (pickupable Book_bar__minus_01_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_81) + (pickupable TennisRacket_bar__minus_02_dot_25_bar__plus_00_dot_32_bar__minus_01_dot_81) + (pickupable Pen_bar__plus_00_dot_02_bar__plus_00_dot_30_bar__minus_01_dot_37) + (pickupable CreditCard_bar__plus_00_dot_06_bar__plus_00_dot_29_bar__minus_01_dot_48) + (pickupable KeyChain_bar__plus_00_dot_99_bar__plus_00_dot_70_bar__minus_01_dot_81) + (isReceptacleObject Mug_bar__plus_00_dot_74_bar__plus_00_dot_70_bar__minus_01_dot_42) + (isReceptacleObject Box_bar__plus_01_dot_54_bar__plus_01_dot_65_bar__plus_00_dot_69) + (openable Drawer_bar__plus_00_dot_39_bar__plus_00_dot_54_bar__minus_01_dot_46) + (openable Drawer_bar__plus_00_dot_39_bar__plus_00_dot_13_bar__minus_01_dot_46) + (openable Drawer_bar__minus_00_dot_03_bar__plus_00_dot_13_bar__minus_01_dot_46) + (openable Drawer_bar__minus_00_dot_03_bar__plus_00_dot_54_bar__minus_01_dot_46) + (openable Drawer_bar__minus_00_dot_03_bar__plus_00_dot_33_bar__minus_01_dot_46) + (openable Drawer_bar__plus_00_dot_39_bar__plus_00_dot_33_bar__minus_01_dot_46) + + (atLocation agent1 loc_bar_1_bar_2_bar_3_bar_30) + + (cleanable Mug_bar__plus_00_dot_74_bar__plus_00_dot_70_bar__minus_01_dot_42) + + (heatable Mug_bar__plus_00_dot_74_bar__plus_00_dot_70_bar__minus_01_dot_42) + (coolable Mug_bar__plus_00_dot_74_bar__plus_00_dot_70_bar__minus_01_dot_42) + + + + + + + + (inReceptacle CD_bar__minus_00_dot_03_bar__plus_00_dot_50_bar__minus_01_dot_53 Drawer_bar__minus_00_dot_03_bar__plus_00_dot_54_bar__minus_01_dot_46) + (inReceptacle CellPhone_bar__minus_00_dot_07_bar__plus_00_dot_50_bar__minus_01_dot_59 Drawer_bar__minus_00_dot_03_bar__plus_00_dot_54_bar__minus_01_dot_46) + (inReceptacle TissueBox_bar__plus_01_dot_53_bar__plus_00_dot_70_bar__minus_01_dot_64 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63) + (inReceptacle TissueBox_bar__plus_00_dot_99_bar__plus_00_dot_71_bar__minus_01_dot_62 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63) + (inReceptacle Laptop_bar__plus_00_dot_04_bar__plus_00_dot_69_bar__minus_01_dot_46 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63) + (inReceptacle AlarmClock_bar__plus_01_dot_23_bar__plus_00_dot_70_bar__minus_01_dot_42 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63) + (inReceptacle CD_bar__plus_00_dot_74_bar__plus_00_dot_70_bar__minus_01_dot_62 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63) + (inReceptacle Mug_bar__plus_00_dot_74_bar__plus_00_dot_70_bar__minus_01_dot_42 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63) + (inReceptacle KeyChain_bar__plus_00_dot_99_bar__plus_00_dot_70_bar__minus_01_dot_81 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63) + (inReceptacle Pen_bar__plus_00_dot_49_bar__plus_00_dot_71_bar__minus_01_dot_62 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63) + (inReceptacle CellPhone_bar__plus_00_dot_00_bar__plus_00_dot_70_bar__minus_01_dot_81 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63) + (inReceptacle Pen_bar__plus_00_dot_02_bar__plus_00_dot_30_bar__minus_01_dot_37 Drawer_bar__minus_00_dot_03_bar__plus_00_dot_33_bar__minus_01_dot_46) + (inReceptacle CreditCard_bar__plus_00_dot_06_bar__plus_00_dot_29_bar__minus_01_dot_48 Drawer_bar__minus_00_dot_03_bar__plus_00_dot_33_bar__minus_01_dot_46) + (inReceptacle Pencil_bar__plus_01_dot_60_bar__plus_00_dot_71_bar__minus_00_dot_54 SideTable_bar__plus_01_dot_56_bar__minus_00_dot_01_bar__minus_00_dot_47) + (inReceptacle KeyChain_bar__plus_01_dot_56_bar__plus_00_dot_71_bar__minus_00_dot_39 SideTable_bar__plus_01_dot_56_bar__minus_00_dot_01_bar__minus_00_dot_47) + (inReceptacle AlarmClock_bar__plus_01_dot_49_bar__plus_00_dot_71_bar__minus_00_dot_23 SideTable_bar__plus_01_dot_56_bar__minus_00_dot_01_bar__minus_00_dot_47) + (inReceptacle AlarmClock_bar__plus_01_dot_56_bar__plus_00_dot_71_bar__minus_00_dot_70 SideTable_bar__plus_01_dot_56_bar__minus_00_dot_01_bar__minus_00_dot_47) + (inReceptacle TeddyBear_bar__minus_02_dot_20_bar__plus_00_dot_50_bar__plus_00_dot_18 Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03) + (inReceptacle Pillow_bar__minus_01_dot_78_bar__plus_00_dot_60_bar__minus_00_dot_57 Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03) + (inReceptacle Book_bar__minus_02_dot_22_bar__plus_00_dot_53_bar__minus_00_dot_57 Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03) + (inReceptacle CellPhone_bar__minus_01_dot_48_bar__plus_00_dot_53_bar__plus_00_dot_65 Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03) + (inReceptacle Book_bar__minus_01_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_81 Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03) + (inReceptacle Pencil_bar__plus_00_dot_48_bar__plus_00_dot_50_bar__minus_01_dot_48 Drawer_bar__plus_00_dot_39_bar__plus_00_dot_54_bar__minus_01_dot_46) + (inReceptacle Box_bar__plus_01_dot_54_bar__plus_01_dot_65_bar__plus_00_dot_69 Shelf_bar__plus_01_dot_55_bar__plus_01_dot_40_bar__plus_00_dot_38) + (inReceptacle HousePlant_bar__plus_01_dot_49_bar__plus_01_dot_40_bar__plus_00_dot_04 Shelf_bar__plus_01_dot_55_bar__plus_01_dot_40_bar__plus_00_dot_38) + + + (receptacleAtLocation Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03 loc_bar__minus_2_bar_0_bar_3_bar_45) + (receptacleAtLocation Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63 loc_bar_4_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_39_bar__plus_00_dot_13_bar__minus_01_dot_46 loc_bar_4_bar__minus_1_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_39_bar__plus_00_dot_33_bar__minus_01_dot_46 loc_bar_3_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_39_bar__plus_00_dot_54_bar__minus_01_dot_46 loc_bar_0_bar__minus_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_03_bar__plus_00_dot_13_bar__minus_01_dot_46 loc_bar_2_bar__minus_1_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_03_bar__plus_00_dot_33_bar__minus_01_dot_46 loc_bar__minus_2_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_03_bar__plus_00_dot_54_bar__minus_01_dot_46 loc_bar__minus_2_bar__minus_2_bar_2_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_61_bar__plus_00_dot_00_bar__plus_00_dot_80 loc_bar__minus_2_bar_1_bar_0_bar_60) + (receptacleAtLocation Shelf_bar__plus_01_dot_54_bar__plus_00_dot_48_bar__minus_00_dot_47 loc_bar_3_bar__minus_1_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__plus_01_dot_55_bar__plus_01_dot_40_bar__plus_00_dot_38 loc_bar_0_bar_2_bar_1_bar_15) + (receptacleAtLocation SideTable_bar__plus_01_dot_56_bar__minus_00_dot_01_bar__minus_00_dot_47 loc_bar_2_bar__minus_1_bar_1_bar_60) + (objectAtLocation Pencil_bar__plus_01_dot_60_bar__plus_00_dot_71_bar__minus_00_dot_54 loc_bar_2_bar__minus_1_bar_1_bar_60) + (objectAtLocation Pen_bar__plus_00_dot_02_bar__plus_00_dot_30_bar__minus_01_dot_37 loc_bar__minus_2_bar__minus_2_bar_2_bar_60) + (objectAtLocation CD_bar__plus_00_dot_74_bar__plus_00_dot_70_bar__minus_01_dot_62 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation KeyChain_bar__plus_01_dot_56_bar__plus_00_dot_71_bar__minus_00_dot_39 loc_bar_2_bar__minus_1_bar_1_bar_60) + (objectAtLocation TissueBox_bar__plus_01_dot_53_bar__plus_00_dot_70_bar__minus_01_dot_64 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation CellPhone_bar__plus_00_dot_00_bar__plus_00_dot_70_bar__minus_01_dot_81 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation AlarmClock_bar__plus_01_dot_23_bar__plus_00_dot_70_bar__minus_01_dot_42 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation Book_bar__minus_02_dot_22_bar__plus_00_dot_53_bar__minus_00_dot_57 loc_bar__minus_2_bar_0_bar_3_bar_45) + (objectAtLocation AlarmClock_bar__plus_01_dot_56_bar__plus_00_dot_71_bar__minus_00_dot_70 loc_bar_2_bar__minus_1_bar_1_bar_60) + (objectAtLocation CellPhone_bar__minus_01_dot_48_bar__plus_00_dot_53_bar__plus_00_dot_65 loc_bar__minus_2_bar_0_bar_3_bar_45) + (objectAtLocation Box_bar__plus_01_dot_54_bar__plus_01_dot_65_bar__plus_00_dot_69 loc_bar_0_bar_2_bar_1_bar_15) + (objectAtLocation Chair_bar__plus_00_dot_95_bar__plus_00_dot_00_bar__minus_01_dot_23 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation Mirror_bar__minus_00_dot_69_bar__plus_01_dot_50_bar__plus_00_dot_96 loc_bar__minus_3_bar_1_bar_0_bar_15) + (objectAtLocation Book_bar__minus_01_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_81 loc_bar__minus_2_bar_0_bar_3_bar_45) + (objectAtLocation AlarmClock_bar__plus_01_dot_49_bar__plus_00_dot_71_bar__minus_00_dot_23 loc_bar_2_bar__minus_1_bar_1_bar_60) + (objectAtLocation CellPhone_bar__minus_00_dot_07_bar__plus_00_dot_50_bar__minus_01_dot_59 loc_bar__minus_2_bar__minus_2_bar_2_bar_45) + (objectAtLocation TissueBox_bar__plus_00_dot_99_bar__plus_00_dot_71_bar__minus_01_dot_62 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation TeddyBear_bar__minus_02_dot_20_bar__plus_00_dot_50_bar__plus_00_dot_18 loc_bar__minus_2_bar_0_bar_3_bar_45) + (objectAtLocation CreditCard_bar__plus_00_dot_06_bar__plus_00_dot_29_bar__minus_01_dot_48 loc_bar__minus_2_bar__minus_2_bar_2_bar_60) + (objectAtLocation KeyChain_bar__plus_00_dot_99_bar__plus_00_dot_70_bar__minus_01_dot_81 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation BaseballBat_bar__minus_02_dot_20_bar__plus_00_dot_04_bar__minus_01_dot_34 loc_bar__minus_3_bar__minus_5_bar_3_bar_45) + (objectAtLocation TennisRacket_bar__minus_02_dot_25_bar__plus_00_dot_32_bar__minus_01_dot_81 loc_bar__minus_3_bar__minus_6_bar_3_bar_45) + (objectAtLocation Painting_bar__minus_02_dot_40_bar__plus_01_dot_70_bar__minus_00_dot_86 loc_bar__minus_3_bar__minus_3_bar_3_bar_0) + (objectAtLocation Pillow_bar__minus_01_dot_78_bar__plus_00_dot_60_bar__minus_00_dot_57 loc_bar__minus_2_bar_0_bar_3_bar_45) + (objectAtLocation LightSwitch_bar__plus_00_dot_23_bar__plus_01_dot_29_bar__plus_00_dot_96 loc_bar_1_bar_2_bar_0_bar_45) + (objectAtLocation Laptop_bar__plus_00_dot_04_bar__plus_00_dot_69_bar__minus_01_dot_46 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation CD_bar__minus_00_dot_03_bar__plus_00_dot_50_bar__minus_01_dot_53 loc_bar__minus_2_bar__minus_2_bar_2_bar_45) + (objectAtLocation Pen_bar__plus_00_dot_49_bar__plus_00_dot_71_bar__minus_01_dot_62 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation HousePlant_bar__plus_01_dot_49_bar__plus_01_dot_40_bar__plus_00_dot_04 loc_bar_0_bar_2_bar_1_bar_15) + (objectAtLocation Window_bar__plus_00_dot_05_bar__plus_01_dot_56_bar__minus_02_dot_08 loc_bar_0_bar__minus_4_bar_2_bar_0) + (objectAtLocation Pencil_bar__plus_00_dot_48_bar__plus_00_dot_50_bar__minus_01_dot_48 loc_bar_0_bar__minus_2_bar_2_bar_45) + (objectAtLocation Mug_bar__plus_00_dot_74_bar__plus_00_dot_70_bar__minus_01_dot_42 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation Blinds_bar__plus_00_dot_01_bar__plus_02_dot_15_bar__minus_02_dot_01 loc_bar_0_bar__minus_4_bar_2_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 TissueBoxType) + (receptacleType ?r ShelfType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 TissueBoxType) + (receptacleType ?r ShelfType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-TissueBox-None-Shelf-313/trial_T20190907_041626_531279/traj_data.json b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-TissueBox-None-Shelf-313/trial_T20190907_041626_531279/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..94421bd4de2912ce1ecdb8fa185e3b3711f540f8 --- /dev/null +++ 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"Turn right and walk to tissue box on the desk.", + "Pick up the box of tissues.", + "Turn left and walk to the small table with keys on it.", + "Place the tissue box next to the other tissue box on the shelf." + ], + "task_desc": "Place two tissue boxes on the shelf just below the keys on the small table.", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3IKXWJKHW1XWC_3EF8EXOTT4CWSYEG6WKTF1VVIUG1JL", + "high_descs": [ + "Turn left, turn left again, walk towards book case, turn right walk to the desk", + "pick up tissue form left hand corner of the desk", + "turn right, turn right again, turn right one more time to face the small cabinet in front of you", + "place the tissue on the middle shelf on the small cabinet in front of you", + "turn right, turn right again, face the desk in front of you", + " pick up the remaining box of tissue from the desk", + "turn right, turn right again, turn right one more time to face the small cabinet in front of you", + "place the box of tissue on the middle shelf of the small cabinet in front of you next to the box of tissue already there" + ], + "task_desc": "to get both boxes of tissue off of desk putting them on the small cabinet", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1DMXEJGJY02E1_3HPZF4IVNPA6AQJD8TAG6KTAZV9CY9", + "high_descs": [ + "Turn around and go to the desk.", + "Pick up the box of tissues on the far left of the desk.", + "Turn around and face the shorter shelf.", + "Put the box of tissues on the middle shelf.", + "Turn around and go back to the desk.", + "Pick up the second box of tissues on the desk.", + "Turn around and face the shorter shelf again.", + "Put the box of tissues on the middle shelf to the right of the first." + ], + "task_desc": "Put two tissue boxes on the short shelf.", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3HL2LL0LEPZT8_3W8CV64QJ5GIQXMLM9W1IUXZ3LNH96", + "high_descs": [ + "turn around, go straight to the book case, turn right, go straight to the desk.", + "Take the tissue box on the left of the desk.", + "Turn left to face the stand to the right of the book case.", + "Put the tissue box on the left side of the lower shelf of the stand.", + "Turn right and go to the desk.", + "Take the tissue box from the desk.", + "Turn left to face the stand to the right of the book case.", + "Put the tissue box on the right side of the first tissue box on the lower shelf of the stand." + ], + "task_desc": "Put two tissues boxes on a stand.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1OWHPMKE7YAGL_3DUZQ9U6SP55DDD404DWEQTY3NUSVN", + "high_descs": [ + "Turn around and go towards the book shelves, then turn to the right and go to the desk with the chair at it. ", + "Pick up the box of tissues that is on the desk to the left of the lamp.", + "Turn around to the small table that is on the right of the book shelves. ", + "Put the box of tissues on the left side of the shelf that is under the keys. ", + "Turn to the right and go back to the desk. ", + "Pick up the box of tissues that is on the desk. ", + "Turn around to the small table that is on the right of the book shelves. ", + "Put the box of tissues on the shelf directly to the right of the other box of tissues." + ], + "task_desc": "Put two boxes of tissues on a shelf. ", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file